Two modified versions of continuous-time generalised predictive control (CGPC): CGPC with end-point state constraints (CGPC_C) and CGPC with end-point state weighting (CGPC_W), are presented. It is shown that both CGPC_C and CGPC_W have guaranteed stability properties, whereas stability is not guaranteed in CGPC. The relationships between the three methods are also discussed, and it is shown that CGPC_W includes the other two, namely CGPC and CGPC_C, as submethods. Some features of the methods are also illustrated by simulations.
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lu et al. (1992) studied this question.
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