Hybridization of IMC and PID Control Structures from Filtered Positional Generalized Predictive Controller

Abstract

The purpose of this paper is to derive an alternative tuning design from Generalized Predictive Controller (GPC) that is based on both positional plant model and cost function, involving the selection of an integral polynomial weighting filter. The obtained Filter Positional GPC can be transformed into RST structure and next to Filtered Internal Model and PID controllers. Numerical and experimental essays show the effectiveness of the control methodologies.