GPC-Based PID Controller Using a Stable Time-Varying Proportional Gain

This paper proposes a new design method of a GPC-based PID controller. The proportional gain of a PID controller is time-varying, and the PID controller is designed using the future reference input. Hence, a GPC law can be approximated by the PID controller finely. Because a controller of GPC has to be stable to obtain stable proportional gain, using extended GPC using coprime factorization, the PID controller is designed.