Stability analysis of systems with proportional-integral generalized predictive control

The stability analysis of the generalized predictive control (GPC) systems is studied. Based on the analysis of the characteristic polynomial of the closed-loop GPC systems, the stability of the closed-loop systems with one step ahead proportional-integral GPCs is proved. By using the root-locus method, the relationship between the poles of the closed-loop and the design parameters is explored, and the practical meanings of the design parameters in the proportional-integral GPCs are clarified. A simulation example is presented, by which the superiority of the proportional-integral GPC over the conventional GPC is explained from the point of view of frequency domain.