An approach to multivariable predictive control with stability guarantees

A multivariable control law based on the constrained receding-horizon predictive control (CRHPC) of Clarke and Scattolini (1991) is presented. Conditions that guarantee nominal stability and solvability are established. It is shown through a simulated example that this algorithm can stabilise systems that present difficulties to the well-known multivariable generalised predictive control (GPC).