Abstract
Generalized Predictive Control(GPC) has been reported as a useful self-tuning control technique for systems with unknown time-delay and parameters. and thus has won popularity among many practicing engineers. Despite its success, GPC does not guarantee its nominal stability. In this paper, GPC is rederived in the frequency domain instead of in the time domain to guarantee its nominal stability. Derivation of GPC in the frequency domain involves spectral factorization and Diophantine equations. Frequency domain GPC control system is stable because the characteristic polynomial are strictly Schur. Recursive least Square algorithm is used to identify unknown parameters. To see the effectiveness of the proposed controller, the controller is simulated for a numerical problem which changes in dead-time, in order and in parameters.
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