A novel iterative learning control formulation of generalized predictive control

A novel iterative learning control formulation of the long-range predictive control method generalized predictive control (GPC) termed GPC with learning (GPCL) is developed. GPCL is applicable to processes that are repetitive in nature and are subject to a partially repeatable disturbance. It improves the regulation performance of GPC by learning and compensating in advance for the repeatable portion of the disturbance over a series of trials. …