Cross-coupling design of generalized predictive control with reference models

In this paper, a cross-coupled generalized predictive control algorithm is proposed with reference models on inputs and outputs of the process. It is shown that such an algorithm provides a combined feedback-feedforward contr ol resulting in pole-zero cancellation of poles which do not correspond to the reference models. Hence, the system behaves asymptotically as the refer ence model provided that the cancelled poles are stable. In addition, the c ross-coupling control action introduced in an optimal way will effectively reduce the synchronization deviations of processes with multiple motion axe s. The proposed algorithm is applied to the control of a servo-system with two motion axes, and simulation results show that the control algorithm giv es improved performance.