ABSTRACT

The above-mentioned GPC has become one of the most popular MPC in both industry and academia since it was proposed in 1987. It has been successfully implemented in many industrial applications (Clarke 1988), (Peng 2006), (Nishizaki et al. 2011). However, a solid delay estimation is fundamental to GPC, because errors of more than one unit the system can become unstable if the process delay is high (Camacho & Bordons 2007). Therefore, is it possible to make a controlled system less sensitive to those estimation errors of delays?