Abstract
This paper presents a new approach based on Youla parametrization, to retune Generalised Predictive Control (GPC) law while preserving its two degrees of freedom structure. This results in a more robust controller with improved high frequency disturbance rejection properties. The proposed strategy expresses an initial controller in a powerful form via the Youla theory, each transfer function of the resulting closed loop system being independently modified. This structure is then particularised to GPC, to adjust the transfer between measurement noise and system output, without changes in the initial input/output closed loop, so that performance of the initial GPC controller is enhanced.
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