Comparison of Canonical Forms for Model Predictive Control

This paper presents the use of various canonical forms of mathematical models for predictive control design. The article represents five canonical forms, including Frobeni's canonical form (serial programming) and Jordan's canonical form (parallel programming). The individual canonical shapes are compared for the same controlled system and the same setting of the adjustable parameters of the predictive controller. The ITAE (integral time absolute error) integration criterion will be used for comparison. The paper aims to determine which canonical form is most suitable for the selected system and which of them achieves the highest quality of the control process.