Abstract
Generalized Predictive Control (GPC) achieves the robust tracking for the step-type target signal by including an integrator in advance. But if there exists neither modeling error nor disturbance, the integral compensation may cause the degeneration of transient responce or an excessive control effort. That is, it is to be desired that the integral compensation shows itself only if there exists modeling error or disturbance. So we propose a design scheme of two degree-of-freedom GPC system. The proposed method reveals the effect of the integral compensation only if there exists modeling error or disturbance. Therefore, performance degradation due to an integral compensation, such as a slow response or an excessive control effort, can be avoided when the control system has no perturbation.
