Analysis and tuning of adaptive generalized predictive control

The adaptive Generalized Predictive Controller (Clarke et al., 1987a, b) is capable of controlling plants with variable dead‐time, unknown model orders and unstable poles and zeros. This paper shows how the GPC control law can be written in an equivalent general linear transfer function form which simplifies closed‐loop (eg. root locus) analysis. Three recommended strategies for selecting the design parameters during the commissioning stage allow the user to adjust the closed‐loop speed of response on‐line using only a single active tuning parameter. Experimental runs confirm the ability of adaptive GPC to provide a consistent closed‐loop response in spite of large process changes.