Model-based predictive controller

This paper presents a new model-based predictive controller. Although the system to be controlled is described by an input-output model and the cost function to be minimized is a standard quadratic function, minimization of the cost function here is achieved step-by-step using a recursive prediction equation, so that the resulting control law computes the control gain matrix via the solution of the standard Riccati equation and allows one to extend easily to large or infinite horizon control.