Experimental verification of stabilising predictive control

This paper presents the results of testing one type of stabilising predictive control, constrained receding horizon predictive control (CRHPC), obtained during real-time experiments on laboratory-scale devices and on an industrial plant. The performance of CRHPC is compared with that of the conventional generalised predictive control (GPC) and PID. The control algorithms are implemented in an adaptive mode with a recursive estimator. The results show that the CRHPC is more sensitive to the process time delay and uncertainties compared with the conventional GPC. (C) 1999 Elsevier Science Ltd. All rights reserved.