Pj. Gawthrop et al., MULTIVARIABLE CONTINUOUS-TIME GENERALIZED PREDICTIVE CONTROL - A STATE-SPACE APPROACH TO LINEAR AND NONLINEAR-SYSTEMS, IEE proceedings. Control theory and applications, 145(3), 1998, pp. 241-250
The multivariable continuous-time generalised predictive controller (C
GPC) is recast in a state-space form and shown to include generalised
minimum variance (GMV) and a new algorithm, predictive GMV (PGMV) as s
pecial cases. Comparisons are drawn with the exact linearisation metho
ds of nonlinear control, and it is noted that, unlike the transfer fun
ction approach, the state-space approach extends readily to the nonlin
ear case. The resulting state space design algorithms are conceptually
and algorithmically simpler than the corresponding transfer function
based versions and have been realised as a freely available Matlab too
l-box.