抄録
When we want to determine control forces using predicted disturbance values near future, the number of predicted values, in other words the limit of prediction, and the form of control force function composed of the predicted values need to be determined. In this paper, the authors define the limit of prediction considering control as the forward horizon, and the limit of reference toward the past to calculate predicted values as the backward horizon. The methods to determine the forward and the backward horizons, to calculate several predicted disturbances near future and to determine control forces using the predicted values are presented. The predictive control method proposed in ths paper is applied to a numerical example of a suspension model for vehicles with two degrees of freedom. The results show that the forward and the backward horizons are determined clearly and that the forward horizon is very effective to the progress of the control performance.
