Abstract
This article formulates a δ-operator Generalised Predictive Control (GPC) framework for models described in state-space: an SS-delta-GPC algorithm. Currently such a description is unavailable, although similar approaches have been made from the perspective of using the discrete gradient approximations as an emulator of the continuous-time system. The SS-delta-GPC algorithm is demonstrated to improve on the round-off errors encountered when using the shift-operator under conditions of fast-sampling and finite word lengths.
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