다변수 예측제어 시스템의 강인성 향상을 위한 관측기 다항식 설계

Observer Design for Enhanced Robustness of Multivariable Predictive control

This paper considers enhancing the robustness of a MIMO(Multi-Input Multi-Output) predictive control system. The characteristic polynomial matrix of the closed-loop is shown to consist of two factors $P_c$ and T, where $P_c$ is determined by the tuning knobs of the predictive controller and T is an observer or prefilter polynomial matrix. The robust stability condition is derived in terms of $P_c$ and T. A guideline on the selection of T is then presented for open-loop stable processes.