Generalised predictive control of delay systems

It has recently been shown that the anticipated filtering (AF) of the control error within the generalised predictive control (GPC) design framework can lead to stable control systems, and certain bounds on the GPC design parameters has been exposed. The main goal of this paper is to propose a design procedure fitted to plants with a nonzero transportation delay. Conditions for the existence of the design solution and corresponding closed-loop transfer function descriptions are given and discussed.