Model reference predictive LQC optimal control law for SIMO systems

The design of LQG controllers for systems with a single input and many outputs is considered. Many simplifications can be achieved over the more general multivariable problem, which is important in self-tuning control applications, for example. The tracking problem considered is novel and allows a model-following capability to be introduced. A predictive control feature is also available which enables the future values of the set point to be taken into account as in preprogramming robot control