Abstract:

The necessary and sufficient conditions are established for the closedloop stability of generalized predictive control (GPC) applied to first order systems with time-delay by combining parametric and non-parametric models. It is shown that: (1) if the openloop system is stable, then there must be a controller such that the closedloop system will remain stable whatever the open loop gain K and the time constant T-change into; (2) while if the open-loop system is unstable, then whatever the controller parameters are chosen as, the closed-loop stability will be lost when K and T go out of  the stability region.

Key words: predictive , control,  , stability , condition,  , first , order , system,  , time delay,  , robustness