Design of predictive LQ controller

A single variable controller is developed in the predictive control framewo rk based upon minimisation of the LQ criterion with infinite output and con trol horizons. The infinite version of the predictive cost function results in better stability properties of the controller and still enables to inco rporate constraints into the control design. The constrained controller con sists of two parts: time-invariant nominal LQ controller and time-variant p art given by Youla-Kucera parametrisation of all stabilising controllers.