Cj. Taylor et al., State space control system design based on non-minimal state-variable feedback: further generalization and unification results, INT J CONTR, 73(14), 2000, pp. 1329-1345
This paper shows how proportional-integral-plus linear-quadratic (PIP-LQ) c
ontrol, based on non-minimal state space (NMSS) control system design, can
be constrained to yield exactly the same control algorithm as both generali
zed predictive control (GPC) and standard, minimal state, linear quadratic
gaussian (LQG) design methods. However, while NMSS includes these other app
roaches as special cases, it is less constrained and so more flexible in ge
neral terms: for example, while PIP-LQ has the simplicity of GPC, it is for
mulated like LQG in the powerful context of state variable feedback (SVF) c
ontrol, which allows for ready access to modern robust control methods. Fur
thermore, the paper suggests that the NMSS approach provides the greater de
sign freedom, with a wider range of possible LQ solutions than its minimal
state space equivalent.