Abstract
An imperative condition of operation in Predictive Control is that a control must be applied after the end of its calculation. In this paper, we analyze and formalize this causality phenomenon which depends on both the computer time and the control problem. Two techniques are proposed. When the causality forbids the complete convergence of the algorithm, we propose a compromise technique which needs the analysis of the partial satisfaction of the specifications at each iteration of the algorithm. The plant is described by a Timed Event Graph while the specifications are defined by a P-time Event Graph.
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