ROBUST UNCONSTRAINED PREDICTIVE CONTROL DESIGN WITH GUARANTEED NOMINAL PERFORMANCE

A systematic and complete method to design robust predictive controlle rs for unconstrained linear systems is proposed. The synthesis procedu re is based on rigorous theoretical foundations, without resorting to approximations or ad hoc design guidelines, yet it remains a viable to ol for practical application. A significant feature is that the robust predictive controller retains the servo performance of a nominal pred ictive controller designed using conventional methods. In addition, th e robust predictive controller can be designed to guarantee perfect st eady-state rejection of asymptotically constant disturbances. The robu st design method is developed for systems affected by unmodeled dynami cs and is based on solving a discrete-time model-matching problem. It is shown that the robust controller can be classified legitimately as a predictive controller because it minimizes the same performance func tional as the nominal predictive controller. An illustrative design ex ample is given.