Consider the unconstrained, SISO version of MPC in Eq. 20-57. Suppose that the controller is designed so

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Consider the unconstrained, SISO version of MPC in Eq. 20-57. Suppose that the controller is designed so that the control horizon is M = 1 and the weighting matrices are Q = I and R = 1. The prediction horizon P can be chosen arbitrarily. Demonstrate that the resulting MPC controller has a simple analytical form.
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Process Dynamics And Control

ISBN: 978-0471000778

2nd Edition

Authors: Dale E. Seborg, Thomas F. Edgar, Duncan A. Mellich

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