Table of Contents
ISRN Applied Mathematics
Volume 2012, Article ID 623484, 12 pages
Research Article

GPC with Structured Perturbations: The Influence of Prefiltering and Terminal Equality Constraints

Departmento de Sistemas de Comunicación y Control, UNED, Juan del Rosal 16, 28040 Madrid, Spain

Received 5 June 2012; Accepted 4 October 2012

Academic Editors: T. Chu, L. Guo, and M. N. Hamdan

Copyright © 2012 C. Mañoso et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


It is widely accepted that in order to improve the robust stability of generalized predictive control (GPC), the use of a prefilter and terminal equality constraints plays a fundamental role. In this work it is shown with straightforward counterexamples how, in the presence of structured uncertainties, neither the prefilter nor the equality constraints guarantee that the robust stability is improved. In fact, it can even worsen compared with “conventional” GPC.