Predictive control and truncated predictor: A comparative study on numerical benchmark problems

In this paper we revisit the procedures leading to a safe implementation of the well-known predictor-based feedback controller. Using a case study we reveal the limitations of such procedures and how the so-called truncated predictor feedback is able to avoid them. We also present a numerical comparison of the aforementioned controllers applied to a benchmark problem and provide a performance evaluation of both control schemes in terms of stability.