The paper presents a comparative simulation study which considers various formulations of generalised predictive control (GPC). The original GPC was formulated in an incremental manner. The first variant is to compare this to a non-incremental form (NIGPC). Following on from this a modified form of NIGPC whereby a feedforward term, which is an approximation to the mean value of the control, is utilized. It is shown that the modified form yields consistent improvement albeit of a marginal nature.
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