Decoupled Control/Error Weighting for Predictive Control

[+] Author and Article Information
T. R. Kurfess

Departments of Mechanical Engineering, and Engineering and Public Policy, Carnegie Mellon University, Pittsburgh, PA 15213-3890

D. E. Whitney

The C. S. Draper Laboratory, Cambridge, MA 02139

J. Dyn. Sys., Meas., Control 115(1), 188-193 (Mar 01, 1993) (6 pages) doi:10.1115/1.2897396 History: Received March 26, 1990; Revised May 15, 1992; Online March 17, 2008


This paper presents a basic review and explanation of the predictive control, discusses the inherent inadequacies with the control/error weighting scheme employed by the predictive control, and recommends some modifications to greatly improve its performance. Some simple examples are presented at the end of the paper to verify that the enhanced weighted scheme does, indeed, improve the predictive controller’s performance. Recommendations are also made on the implementation of the new controller.

Copyright © 1993 by The American Society of Mechanical Engineers
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