CGPC with guaranteed stability properties

Two modified versions of continuous-time generalised predictive control (CGPC): CGPC with end-point state constraints (CGPC-C) and CGPC with end-point state weighting (CGPC-W), are presented. It is shown that both CGPC-C and CGPC-W have guaranteed stability properties, whereas stability is not guaranteed in CGPC. The relationships between the three methods are also discussed, and it is shown that CGPC-W includes the other two, namely CGPC and CGPC-C, as submethods. Some features of the methods are also illustrated by simulations.