An Extension of Two Degree-of-Freedom of Generalized Predictive Control for M-input M-output Systems Based on State Space Approach

This paper proposes an extension method of two degree- of-freedom generalized predictive control (GPC) for m-input m-output systems by using coprime factorization approach. The extended controller has new design parameter which can change the controller poles without changing the closed-loop poles. And the proposed method reveals the effect of the integral compensation only if there exists modelling error and/or disturbance. Therefore, performance degradation due to an integral compensation, such as a slow response or an excessive control effort, can be avoided when the controlled system has no perturbation.