Handling constraints with predictive functional control of unstable processes

The paper tackles two major issues. The first is to develop a new means of including constraint handling for unstable processes in the industrial successful and computationally efficient algorithm of predictive functional control (PFC); the benefits are illustrated. The second is to show how the technique proposed has recursive feasibility in the nominal case, that is feasibility now implies feasibility at the next sampling instant. This is known to be essential for robust stabilisation of unstable processes.