Abstract

Generalized Predictive Control (GPC) describes an algorithm for the stable, adaptive control of dynamic systems. In the algorithm, a control input is generated which minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system outputs and,future predicted control increments. The predictions are obtained from an internal where model of the plant dynamics. The GPC approach is similar in concept to preview control, which has been discussed in the manual control literature. The GPC algorithm is appliced to a simplified rotorcraft terrain following/ terrain avoidance problem and its performance is compared to that of a conventional compensatory automatic system in terms of flight path performance, control activity and control law implementation. The potential of the GPC algorithm to serve as a paradigm for the human operator is briefly discussed.

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