Improving the feedforward component for recent variants of Predictive Functional Control

A recent study demonstrated that the use of feedforward information with conventional Predictive Functional Control (PFC) leads to unexpected inconsistencies, with subsequent negative impacts on tuning and behaviour. A proposal was made to define the coincident point differently and shown to reduce the lag in the closed-loop PFC responses and applied to some systems with benign dynamics. Other recent work has looked at parameterisations of the future input to deal with challenging open-loop dynamics and significantly extended the range of problems for which PFC can be effective. This paper combines the two concepts, and thus proposes an algorithm that has both more effective and simple tuning than original PFC as well as being applicable to a range of challenging dynamics.