Stability Guaranteed Generalized Predictive Controls and its Equivalence to Receding Horizon Tracking Control

In this paper, a new GPC (Generalized Predictive Control) algorithm which always guarantees the stability of a closed loop system is proposed. The feedback part of the presented predictive control is shown to be equivalent to that of RHTC (Receding Horizon Tracking Control) with a terminal state constraint. The stability of the presented control law is proved and the simplest form of the stabilizing GPC is presented, which can be widely applied to various areas. The proposed control is different from Clarke´s GPC in the sense that the latter guarantees stability for an indefinitely large horizon, while the former guarantees the stability for any horizon greater than the system order.