Advanced Optimal Predictive Control

In this contribution an extended version of the well known DMC predictive control concept is presented. The definition of an extended DMC cost function leads to a LQR problem with predescribed weighting matrices. Solving the LQR problem the optimal predictive control (OPC) law can be found. Analysing the weigthing matrices it can be seen that the OPC control law is capable of guaranteeing closed-loop stability even for unstable or nonminimum phase plants. In order to achieve disturbance attenuation a disturbance model is used within the OPC method. Also using a reference model the extended OPC method yields a straight forward controller design with a predescribed disturbance attenuation as well as a good tracking behaviour. As one advantage the utilization of a reference model avoids the necessity of known future values of the reference signal.