On the equivalence of a minimal order MPC and a GTDOF control of time-delay plants

Authors:	Keviczky Laszlo, Hungarian Academy of Sciences, Hungary Banyasz Csilla, Hungarian Academy of Sciences, Hungary
Topic:	2.1 Control Design
Session:	Control Design I
Keywords:	time-delay, pole-placement, model predictive control, two-degree of freedom regulator

Abstract

It is shown that for open-loop stable plants the task of an MPC can be solved by identifying the plant model only instead of the redundant prediction model. Interesting structural considerations can be derived from comparison of the topologies and structural forms of regulators obtained by pole-placement design, the GTDOF scheme and the MPC. Analyzing the possible closed-loop ID errors a new simple method is introduced for adaptive and combined iterative ID and control for time-delay plants.