Two degree-of-freedom of generalized predictive control for m-input m-output systems based on state space approach

This paper proposes a design scheme of two degree-of-freedom GPC for m-input m-output systems. The proposed method reveals the effect of the integral compensation only if there exists modelling error and/or disturbance. Therefore, performance degradation due to an integral compensation, such as a slow response or an excessive control effort, can be avoided when the controlled system has no perturbation.