Generalized predictive control, with and without endpoint constraints,, was developed in the context of discrete-time systems and recent work developed an interesting framework for an extension to continuous-time systems. The present paper givesfurther consideration to the implied prediction class and proposes improvements with respect to optimality and the guarantee of stability. in addition by proposing a simple extension of the prediction class so as to include the l{sub}2 optimal solution,in this paper we derive further improvements which can also be applied to the case when the system inputs are subject to physical limits.
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