An extended generalized predictive control for stochastic space models (EGPC/SM) and input/output models (EGPC/IM) is developed. EGPC introduces a final output weighting horizon into the cost function of GPC to improve the stability properties. It is shown that a special case of EGPC/SM is equivalent to EGPC/IM and that EGPC/IM includes GPC as its special case. Using the final output weighting horizon, solutions of EGPC/SM and EGPC/IM which guarantee stability are proposed.
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