Authors
Akira Yanou*
Faculty of Health Science and Technology, Kawasaki University of Medical Welfare, 288 Matsushima, Kurashiki, Okayama 7010193, Japan
*Email: [email protected]
Corresponding Author
Akira Yanou
Received 23 October 2019, Accepted 17 May 2020, Available Online 3 June 2020.
DOI
https://doi.org/10.2991/jrnal.k.200528.012How to use a DOI?
Keywords
Generalized predictive control; closed-loop characteristics; noise; output prediction
Abstract
Generalized Predictive Control (GPC) is one of the model-based control methods. The control law is derived by minimizing performance index, which includes the squares of control input and the squares of the error between reference signal and output prediction, in order to make the derived control system be stable. Although coprime factorization approach has been used to extend the conventional control law in the previous researches, there has been a possibility that the order of the derived control law becomes high. Therefore, this paper extends GPC through newly-defined output prediction and proposes the method to re-design the control law or the disturbance response with keeping the closed-loop transfer function. Numerical example is shown to check the characteristic of the proposed method.
Copyright
© 2020 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).