LONG-RANGE PREDICTIVE CONTROL WITH STEADY-STATE ERROR WEIGHTING

The long-range predictive control strategy is extended to include a te rminal matching condition so that the final control law minimizes the squares of prediction errors over a small future prediction horizon an d at steady state. The weighting on the terminal condition is a better alternative than a large prediction horizon, which requires a heavy c omputational load. It also leads to the formulation of an approximate long-range predictive controller with knowledge of only a few initial step response coefficients and the steady state gain. Evaluations of s teady state error weighting show that the weighting provides similar e ffects to ordinary control weighting but in addition has the stabilizi ng effects of a large predictive control horizon. An adaptive version of this control strategy has been successfully applied to the control of mean arterial blood pressure. (C) 1997 by John Wiley & Sons, Ltd.