Predictive pole-placement control with linear models

The predictive pole-placement control method introduced in this paper embeds the classical pole-placement state feedback design into a quadratic optimisation based model-predictive formulation. This provides an alternative to model-predictive controllers which are based on linear-quadratic control. The theoretical properties of the controller in a linear continuous-time setting are presented and a number of illustrative examples are given. These results provide the foundation for novel linear and nonlinear constrained predictive control methods based on continuous-time models.