Design of partially decentralized controllers via GPC

Partially decentralized control is a control structure that lies between a fully decentralized structure and a fully centralized one, and has the advantage of achieving comparable performance as a fully centralized controller but with simpler structure. This paper proposes an expansion procedure to design partially decentralized controllers via generalized predictive control (GPC). The proposed method does not need to compute the pseudo-inverse of a non-square system thus overcomes the drawbacks of the existing expansion method proposed in a previous paper. Simulation results show that the proposed method is simple and can achieve better performance than the previous method.