Two Degree-of-Freedom of Generalized Predictive Control Based on State Space Approach

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  • YANOU Akira
    Graduate Schoolof Natural Science and Technology, Okayama University
  • MASUDA Shiro
    Department of Systerns Engineering, Faculty of Engineering, Okayama University
  • INOUE Akira
    Department of Systerns Engineering, Faculty of Engineering, Okayama University
  • HIRASHIMA Yoichi
    Department of Systerns Engineering, Faculty of Engineering, Okayama University

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Other Title
  • 状態空間法による一般化予測制御系の2自由度構成法
  • ジョウタイ クウカンホウ ニ ヨル イッパンカ ヨソク セイギョケイ ノ 2ジユウド コウセイホウ

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Abstract

Generalized Predictive Control (GPC) achieves the robust tracking for the step-type target signal by including an integrator in advance. But if there exists neither modeling error nor disturbance, the integral compensation may cause the degeneration of transient responce or an excessive control effort. That is, it is to be desired that the integral compensation shows itself only if there exists modeling error or disturbance. So we propose a design scheme of two degree-of-freedom GPC system. The proposed method reveals the effect of the integral compensation only if there exists modeling error or disturbance. Therefore, performance degradation due to an integral compensation, such as a slow response or an excessive control effort, can be avoided when the control system has no perturbation.

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