Abstract
This paper proposes a computationally efficient predictive control law for non-linear systems, that is one that can easily be coded and implemented on low cost hardware. Moreover, it has a secondary core benefit that the core tuning parameter reduces to a single choice which is: how much faster than open-loop would you like the closed-loop to converge? Conceptually the approach builds on the PFC approach but proposes a very different type of coincidence condition which removes the lag associated to the conventional approach. Simulations demonstrate that for some non-linear systems this is a cheap and simple way of ensuring effective feedback, with constraint handling.
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