Abstract
This paper is concerned with the frequency response properties of MIMO generalized predictive control. A number of frequency response indicators (characteristic loci, principal gains and Gershgorin bands) are used to evaluate stability and the performance of the closed-loop. This is done via three realistic examples which demonstrate the effect of the predictive controller tuning parameters on the measures of robust stability and performance in the frequency domain. A series of heuristic tuning rules is compiled for methodical tuning of this type of controller in multivariable environments
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