Multivariable Continuous-time Generalised Predictive Control: a State-space Approach to Linear and Nonlinear Systems Csc Report: Csc{98001 Mvcgpc: a State-space Approach

The Multivariable Continuous-time Generalised Predictive Controller (CGPC) is recast in a state-space form and shown to include Generalised Minimum Variance (GMV) and an new algorithm, Predictive GMV (PGMV) as special cases. Comparisons are drawn with the exact linearisation methods of nonlinear control and it is noted that, unlike the transfer function approach, the state-space approach extends readily to the nonlinear case. The resulting state space design algorithms are conceptually and algorithmicly simpler than the corresponding transfer function based versions and have been realised as a freely available Matlab tool-box. 2 MVCGPC: A State-space Approach 2nd February 1998 Symbol Meaning SISO Single input { single output MIMO Multi input { multi output GMV Generalised minimum variance (control) IMC Internal model control PGMV Predictive generalised minimum variance (control) GPC Generalised predictive control CGPC Continuous-time Generalised predictive control Table 1: Acronyms