状態空間法による終端条件を用いた多変数一般化予測制御系の構成法 A Design Method for a Multivariable Generalized Predictive Control with a Terminal Matching Condition in State-space Approach
In this paper, the generalized predictive control (GPC) with a terminal matching condition for single-input single-output (SISO) plants proposed by Kwok and Shah  is extended so that it can be applied to multi-input multi-output (MIMO) plants. For the extension to MIMO case, a state-space approach is used in the proposed method while a polynomial approach is used in the conventional method. This is because a state-space approach for the design of the proposed GPC makes the extension to MIMO case possible. In addition, a steady-state predictor originally derived in this paper using a state-space approach is shown to be completely equivalent to that in the conventional method when SISO plant is designed. Finally, a numerical example is demonstrated to show that a terminal matching condition in the MIMO case has the same role for improving performances of the controlled system as in the SISO case using conventional method.
システム制御情報学会論文誌 13(2), 95-102, 2000-02-15