Abstract
This paper extends the autotuning method proposed by Åström and Hagglund for PID controllers to a model-based, generalized minimum variance (GMV) controller with control (Q) weighting. In this context, the control structure is comparable to that of the well-known Smith predictor with Q taken in the form of an inverse discrete PI regulator. Two different methods are proposed for autotuning the parameters of Q based on a predicted error. Experimental results show that the tuning method is effective in designing Q and that GMV with Q weighting provides improved performance when deadtime is present as compared to the standard PI controller.
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