New method for predictive controller design for bilinear systems

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Abstract
A new approach to predictive controller design for bilinear systems has been developed based upon discrete pulse orthogonal functions, and some important analytical properties of the general predictive control system have been obtained. The authors prove that any control system based internal model, linear or non-linear, exhibits an interesting ‘dual relationship’ between the regulatory behaviour and the servo behaviour. It is this dual relationship that brings the excellent robustness and high ability to correct unmeasured disturbances and model mismatch. In the new design procedure, it is not necessary to calculate the non-linear optimization problem because all calculation is between the algebraic equations. The final control action becomes the solution of a least-squares problem which contains the adjustable parameters; therefore the tuning is also much simpler. Two examples illustrate that the method is effective

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