Delta-operator predictive control

Describes new approaches to predictive control formulated in the delta (δ) domain. Two controllers are considered: one having a well-defined limit as the sampling period tends to zero, the other being a close approximation to the conventional discrete-time GPC. Both algorithms are discrete in nature and well-suited for adaptive control. The controllers are formulated in state-space and based on a new δ-domain version of the continuous-time emulator-based predictor. This new predictor is shown to contain the optimal discrete-time predictor as a special case. Usually a good estimate is obtained in a much longer range of samples than obtained by the optimal predictor of the same complexity. This is particularly advantageous at fast sampling rates where a “conventional” predictor is bound to become very compositionally demanding