Pole-placement Predictive Functional Control for under-damped systems with real numbers algebra

Recent Developments in Tuning Methods for Predictive Functional Control

Predictive functional control (PFC) is a popular alternative to PID because it exploits model information better and enables systematic constraint handling while also being cheap and computationally efficient. A recent overview paper reviewed some recent proposals for improving the tuning efficacy. This paper extends and develops upon that review paper by introducing some exciting new proposals for how to making tuning more intuitive and, thus, easier for unskilled operators. Moreover, there are early indications that these proposals are easily modified for use in nonlinear cases while maintaining a very low cost and a simple and fast online computation.

A Comparison of Tuning Methods for Predictive Functional Control

Predictive functional control (PFC) is a fast and effective controller that is widely used in preference to PID for single-input single-output processes. Nevertheless, the core advantages of simplicity and low cost come alongside weaknesses in tuning efficacy. This paper summarises and consolidates the work of the past decade, which has focused on proposing more effective tuning approaches while retaining the core attributes of simplicity and low cost. The paper finishes with conclusions on the more effective approaches and links to context.

Input Shaping Predictive Functional Control for Different Types of Challenging Dynamics Processes

Predictive functional control (PFC) is a fast and effective controller that is widely used for processes with simple dynamics. This paper proposes some techniques for improving its reliability when applied to systems with more challenging dynamics, such as those with open-loop unstable poles, oscillatory modes, or integrating modes. One historical proposal considered is to eliminate or cancel the undesirable poles via input shaping of the predictions, but this approach is shown to sometimes result in relatively poor performance. Consequently, this paper proposes to shape these poles, rather than cancelling them, to further enhance the tuning, feasibility, and stability properties of PFC. The proposed modification is analysed and evaluated on several numerical examples and also a hardware application.