An Extension of Two Degree-of-Freedom of Self-Tuning GPC Based on State-space Approach Using Coprime Factorization Approach

This paper proposes an extension of two degree-of-freedom of self-tuning generalized predictive control (GPC) based on state-space approach by using coprime factorization approach. The extended controller has new design parameter which can change controller poles without changing closed-loop poles. When the identified plant parameters converge on true values and the control system has no perturbation, performance degradation due to an integral compensation, such as an excessive control effort, can be avoided.