Generalized predictive control. I: The basic algorithm (Q1090654)

The paper is a very good presentation of generalized predictive control. The method is a generalization of self-tuning regulators and generalized minimum variance self-tuners. The idea is to increase the prediction horizon for both the output and the input of the process. The method is shown to be suitable for processes with time-varying parameters and variable time delay. The first part of the two-part paper contains the description and analysis of the basic algorithm. The second part [see the following title] contains extensions of the algorithm and several examples showing the performance of the algorithm.