a | / pe parr (04-4 2.4 A Simple GPC Example Y" consider here the GPC control of a plant with ARIMAX description, ye = LeTyy — O.7yp—2 + O.9Am_1 — O.6AtH 2 + by (2.25) ay ith E, a zero mean white noise signal. With the notation of (2.5), this ! corresponds with Aq!) = 1-0.7q7" - * Ream 6G aarti 7-9-0 G4Note that we have taken the C’ polynomial unity in this plant model, and that “liferentiator A has been incorporated into the A polynomial. Purther M=3 the we consider pi MWe = 3, and take the control weighting constant A = 0.1 [Predicted plant outputs up to a range of three are therefore needed. ephese may be derived by back substitution into the plant model (2.25), with diction and control horizon parameters to be Ny E44; = 0, 1 2 1, as follows: far = Vee 0.7 He 4 0.9Auy 0.6 AU hax = ATiegs — 0-7 ye + O.9Ate4 ~ 0.6 S219, —LADye1 + O.BAgEg + 0.99. Me ~ 102A Ur-1 LT ig — O.7Ge41 + 0-9Atea2 — O.6Amegs a 2.533ye— 1.5981 FO.DAt42 + 0.9BAUe41 + 0.9510 =1MAue, es or by the computation of the predictor polynomials & la [EMTS q 1 Eg AYA + a) ACL = Lrg! + 0.7978) + NLT — 0.797 and similarly, following the schema (2.8) and (2.10), B= (Le Lrg QO = 1-797 + 0.7972) + g-2(QI9 ~ 119477) (14 Lrg! + 2.1997) = Lae! + 0.7477) 482.5388 — 1.53397 EB = 0.9~ 0.69"? Fa = 0.940.939"! = 1.02q~ B38 = 0.9 + 0.9347" + 0.95197* ~ 1.314g-* This yields finally the form of (2.20), fi 09 0 0) fam (8) - (c= oo ) (se) ius ost 08 00) \awrs Tye Oryx =O (aden ty 0 ) . 2 543y, — 1.533ye1 — 1B AUwhere the matrices G, a and f are explicitly identified. The gain matrix may now be calculated, 0.8047 0.0929 0.0095 (G7G + AL) 'GT = | -0.8316 0.8091 0.0929 } . 0.0766 —0.8316 0.8947 Further carrying through the calculation of the first row above with the coofficients of yey ye-1 and Ate in the vector f given earlior yields the receding horizon closed loop control law, Au = 0.644 An 1 + 1.7483y, — 0.75133 $0.8047 re41 + 0.092942 + 0.0095r43. (2:26)2.5 Closed Loop Formulae We will now derive some closed loop formulae for the Generalized Predictive Controller in the nonadaptive case in order to show how the design parame- ters Ny, Nz, Ny and \ might affect the stability of the controlled plant. We first define aj, i= 1,...,.N2, as the coefficients of the first row of the matrix in (2.23), (a... ay,)=(1 0... 0 )(GTE@4ANTIGT. (2.27) itis then easy to see that the first component of the vector equation (2.23) can be rewritten as My Mm pM Au = —Vagau - Lagu + aire: (2.28) tC CY sl this then leads to the controller equation Xe Na Na (C4 Vadiq Aw = (Cd ag rene — (SoaiFidyer — (2.29)or, with obvious definitions for the polynomials 2, 7; and $, am Aw = CTiriyn, ~ 80 (2.00) ene SRows that GPC is a way of synthesizing linear feedback controllers by qnea{({ bf an optimization criterion instead of, say, a pole placement design, Ofcourse, every linear controller, whatever the synthesis technique, will have a stencture like (2.30) Next consider the closed loop which is obtained by combining the plant model (2.6) with the controller equation (2.30). ‘This immediately gives the following, closed loop, (AAR + BSE ye = BCT ten + ORE (21) Using the definitions of R, S, and ‘7, and after some calculations, one can show that Me closed eee loop AAR + BSq oS AAC + Zeelaate+ BAe leak [iggy fies ave —sncr 1 Ce les wn Hence, equation (2.31) becomes a Fa (233) WE