Predictive Controller Design for SISO Systems

This paper presents a fundamental analysis of the stability of single-input/single-output closed-loop systems with predictive controllers. The analysis can incorporate modeling errors and be used to calculate allowable modeling errors for a given system and controller. Design parameter selection guidelines for predictive controllers in SISO systems have been developed by considering performance, robustness, and ease of tuning. The performance and robustness of the resulting controllers are demonstrated on four numerical examples and compared to controllers designed using other parameter choices.