Abstract
Abstract This paper addresses nonlinear Generalised Predictive Control (GPC) for nonlinear mechanical systems and its relationship with dynamical inversion control. First continuous-time generalised predictive control for nonlinear systems is developed and the stability of the closed-loop systems is shown. It is pointed out that the dynamical inversion control is a special case of continuous-time nonlinear GPC. This result also provides an optimal design method for dynamical inversion control in term of the generalised predictive control performance index. The nonlinear GPC developed is successfully applied to the control of a two-link robotic manipulator.
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