Explicit GPC Control Applied to an Approximated Linearized Crane System

Table 2

GPC parameters.

Parameters	Value
		Prediction horizon
		Control horizon
		Constraint output horizon
		Constraint input horizon
	s	Sample time
		Weighting coefficient for tracking error
		Weighting coefficient for control increments
	V	Input increment upper limit
	V	Input increment lower limit
	V	Input upper limit
	V	Input lower limit
		Output upper limit
		Output lower limit