Non-linear predictive control by inversion: discontinuities for critical behaviour

The predictive control by inversion (PCI) technique is presented in this paper. This technique permits extending, in a simple way, the predictive control principles to non-linear models without any linearizing transformation. Singularities and non-minimum phase phenomena which can arise from inversion are treated by introducing control discontinuities either directly on the control or some of its derivatives, or indirectly through reference trajectory discontinuities. Performance and robustness properties of the technique are illustrated by several simulation results.