Two degree-of-freedom of self-tuning GPC for m-input m-output systems by using a genetic algorithm

This paper proposes a design method of two degree-of-freedom of self-tuning GPC for m-input m-output systems by using a genetic algorithm. The genetic algorithm gives a solution of integral gain in two degree-of-freedom of self-tuning GPC. When the identified plant parameters converge on true values, the proposed method reveals the effect of the integral compensation only if there is modeling error or disturbance. Therefore the performance degradation caused by integral compensation can be avoided.