Robust MIMO generalized predictive control with multiple reference model: a helicopter application

Abstract

This paper is concerned with multivariable generalized predictive control with multiple reference model in its polynomial form (MIMO GPC/MRM). The results presented by Robinson and Clarke (1991) are extended to the MlMO GPC/MRM method and it is shown how to apply them. Then the method is applied to a helicopter; simulation results are given which show the decoupling efficiency and the robustness of the controller by a test on a weakly mismatched system and the improvement of the robustness brought by the T matrix filter on a strongly mismatched system.<>