ANALYSIS AND TUNING OF ADAPTIVE GENERALIZED PREDICTIVE CONTROL

The adaptive Generalized Predictive Controller (Clarke et al., 1987a.b) is capable of controlling plants with variable dead-time, unknown model orders and unstable poles and zeros. This paper shows how the GPC control law can be written in an equivalent general linear transfer function from which simplifies closed-loop (eg. root locus) analysis. Three recommended strategies for selecting the design parameters during the commissioning stage allow the user to adjust the closed-loop speed of response on-line using only a single active tuning parameter. Experimental runs confirm the ability of adaptive GPC to provide a consistent closed-loop response in spite of large process changes.