Improved Proof for Stability of Finite-£Èorizon Generalized £Ðredictive Control
Zheng Jiguang¹, Shi Ren¹, Wang Mengxiao²
(1. Xi'an Jiaotong University,  Xi'an 710049, China; 2. Northwest Light Industry College)

Abstract: The Lyapunov second method is applied to prove the chosed-loop stability of the finite-horizon generalized predictive control(GPC).The finite-horizon GPC approaches the minimun-energy control that transfers the current state to zero end-point state.Hence, the real cause for stability is revealed.Finally,a more concise proof is also given for the equivalence of Kleinman control and finiteª²horizon GPC.
Keywords: generalized predictive control;Kleinman control;minimum-energy control