Open Access Open Access  Restricted Access Subscription or Fee Access

Stable Predictive Control with Input Constraints Based on Variable Gain Approach

(*) Corresponding author

Authors' affiliations



The paper presents a method of the predictive controller design which guarantees robust stability of the closed-loop system and minimizes the sum of squares of errors. Design is divided into the robust stabilization based on the robust PID controllers, optimal control with minimization of the cost function and soft input constraints handling with a variable gain.  Stability is guaranteed in the presence of input constraints. Results are experimentally confirmed on the magnetic levitation model which is an unstable SISO process.
Copyright © 2014 Praise Worthy Prize - All rights reserved.


Predictive Control; Robust Stability; SISO; Sum of Squares of Error; Input Constraints

Full Text:



J. Maciejowski. Predictive Control with Constraints. (Prentice-Hall, 2002).

J. Richalet, A. Rault, J.L. Testud, and J. Papon. Model predictive heuristic control: Applications to industrial processes. Automatica, Vol. 14(Issue 5):413-428, 1978.

D.M. Prett, B.L. Ramaker, and C.R. Cutler. Dynamic matrix control method. United States Patent 4349869, 1982.

D.W. Clarke, C. Mohtadi, and P.S. Tuffs. Generalized predictive control: Part 1, the basic algorithm. Automatica, Vol. 23(Issue 2):137-148, 1987.

D.W. Clarke, C. Mohtadi, and P.S. Tuffs. Generalized predictive control: Part 2, extensions and interpretations. Automatica, Vol. 23(Issue 2):149-160, 1987.

J.A. Rossiter. Model-Based Predictive Control: A Practical Approach. (CRC Press, 2004).

P. Hudzovič. Simultaneous Stability and Quality Check of the Pulse Regulation. Kybernetika, Vol. 3:175-194, 1967.

Q. T. Nguyen, V. Veselý, and D. Rosinová. Design of robust model predictive control with input constraints. International Journal of Systems Science, Vol. 44(Issue 5): 896-907, 2013.

J.E. Ackermann and B.R. Barmish. Robust Schur stability of a polytope of polynomials. IEEE Transactions on Automatic Control, Vol. 33(Issue 10): 984-986, 1988

HUMUSOFT. CE 152 magnetic levitation model, user's manual. 1996.

Hypiusovà, M., Kajan, S., Robust controller design using edge theorem and genetic algorithm, (2013) International Review of Automatic Control (IREACO), 6 (2), pp. 194-200.

M. Hypiusová and J. Osuský. Robust controller design for magnetic levitation model. AT&P journal PLUS, Vol. 1:100-104, 2010.

D. Vozák and Š. Chamraz. Simple identication and robust controller design for magnetic levitation model. In: Proc. Kybernetika a informatika - Skalka pri Kremnici, 31 January - 4 February, 2012.

Škultéty, J., Miklovičová, E., Bars, R., Predictive control based on discrete laguerre network, (2013) International Review of Automatic Control (IREACO), 6 (5), pp. 558-564.

Paulusová, J., Dúbravská, M., Neuro-fuzzy predictive control, (2012) International Review of Automatic Control (IREACO), 5 (5), pp. 667-672.

A. Bemporad, M. Morari,V. Dua, E. N. Pistikopoulos. Explicit solution of model predictive control via multiparametric quadratic programming. In: Proc. American Control Conference, 28 June - 30 June, 2000.

M.V. Kothare, V. Balakrishnan, and M. Morari. Robust constrained model predictive control using linear matrix inequalities. Automatica, Vol. 32(Issue 10):1361-1379, 1996.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2024 Praise Worthy Prize