Model uncertainties in GPC: A systematic two-step design

This paper presents a new methodology for enhancing Generalized Predictive Control (GPC) in order to robustify the closed loop system in the face of neglected dynamics. This methodology occurs in two distinct steps. In the first step a nominal controller is obtained by minimizing the GPC tracking performance index, in the second step a systematic procedure for enhancing the nominal controller is derived by taking into account the expected uncertainties. The overall controller is shown to yield a better compromise between disturbance rejection and robust stability than is obtained with existing methods.