Multivariable adaptive long-range predictive controller based on CARMA model

Such a controller is suitable for systems that are unstable and/or in non-minimum phase. It requires less prior knowledge of the interactor matrix of the system and less amount of computations. Using the state space approach, the authors succeed in analyzing the robust stability of long-range predictive control systems, including the proposed control system. In addition, two effective measures are taken: (1) Long-range predictor and multi-stage cost-function minimization schemes instead of single-step predictor and single-stage cost-function minimization schemes are used. (2) A control horizon is introduced. Simulation results appear to confirm that the proposed adaptive controller is better than previous ones.