Abstract
GPC (Generalized Predictive Control) has been formulated in state space approach as well as in conventional polynomial equation approach. The equivalence of control laws derived in two approaches has also been proven. In this paper, a new formulation of GPC control law is derived by dynamic programming, where the control law in state space approach is decomposed into low order components and expressed by recursive Riccati equation. The equivalence between the newly-derived and the original control law is proven in this paper. Futhermore, in order to guarantee the stability of GPC, a terminal penalty term is introduced to the performance index as we intoroduced to the preview servo system. The resulting stabilized GPC law becomes a generalized version of the preview servo control law.
