Enhancing the Robustness of GPC via a Simple Choice of the Youla Parameter

Abstract

This paper presents a new methodology for enhancing generalised predictive control (GPC) in order to robustify the closed-loop system in the face of neglected dynamics. This methodology consists of two distinct steps. In the first step, a nominal controller is obtained by minimising the GPC tracking performance index; in the second step, the robustness of the controller with respect to model uncertainties is enhanced via a simple choice of a Youla parameter. The overall controller is shown to yield d better compromise between closed-loop performance and robust stability than is obtained with existing methods.