SUMMARY Predictive control is one of the major success stories in modern industrial control. It has been successfully used in hundreds of real‐world applications, and there is a rich associated theory. The goal of this paper is to provide a historical perspective of predictive control. In view of the breadth of predictive control, we will restrict the discussion to certain specific aspects. In particular, we give emphasis to the seminal work of David Clarke.
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Goodwin et al. (2012) studied this question.