Abstract
A stable constrained multivariable predictive control algorithm based on the Toeplitz predictive equation is presented. An analytical method for transformation between left and right coprime factorization of multivariable system is put forward, and then an unconstrained control law and its stable condition are given. Furthermore, for the constrained multivariable controlled system, a predictive controller and its asymptotically stable condition are presented and proved. Finally, the constrained receding horizon optimization is transformed into a typical linear matrix inequality (LMI) problem and solved. The detailed control algorithm is depicted in a numerical example, and the simulation results reveal the effectiveness and practicability of the presented algorithm. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
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