This report considers an introduction to predictive control methology and methods. Basic principles of Model Based Predictive Control (MBPC) are discussed. Some of the best known approaches are given. Generalised Predictive Control (GPC) is derived in unconstrained and constrained cases. Some stability results are presented. Last part of the report deals with tuning of the algorithm and with simulation and real-time examples.

• Introduction
• Elements of MBPC
• Existing methods
• Derivation of the method
• Constrained control
• Stability results
• Tuning
• Examples
• Conclusions

History

• Version 1.1: 04.05.1998 - begin
• Version 1.2: 01.06.1998 - added: continuous-time implementation, the role of the observer polynomial
• Version 1.3: 29.01.1999 - added: multivariable tuning
• Version 1.4: 27.08.1999 - added: derivation of CRHPC