Predictive Control with Filtered Input and Output Variables in Prediction Equations

The paper is focused on an implementation of a predictive controller with a colouring filter C in a disturbance model. Both single-input-single-output (SISO) and multi-input-multi-output (MIMO) cases were considered and analysed. The filter is often essential for practical applications of predictive control based on input-output models. It is commonly considered as a design parameter because it has direct effects on closed loop performance. In this paper a computation of predictions for the case with the colouring polynomial is introduced. The computation is based on particular models of the controlled systems in the form of transfer function in case of SISO system and matrix fraction in case of MIMO system which are commonly used for description of a range of processes. Performances of closed loop systems with and without the colouring polynomial in the disturbance model were also compared. Key-Words: predictive control, disturbance modelling, colouring polynomial, filtering of variables, transfer function models, matrix fraction models