Linear quadratic feasible predictive control

Terminal constraints in predictive control provide a guarantee stability, but result in deadbeat predicted responses and can violate physical constraints. Two recent algorithms (Rossiter et al, 1996a; Scokaert and Rawlings, 1996) removed this restriction, but of these the former lacks the guarantee of l2-optimality whereas the latter lacks the guarantee of feasibility. Here we develop algorithms which overcome both these difficulties and illustrate their advantages by means of numerical examples. © 1998 Elsevier Science Ltd. All rights reserved