Predictive functional control for integrator systems

This paper presents a novel modification and insights in the topic of predictive functional control (PFC) [1, 2]. Of particular interest is the consistency between the predictions deployed by PFC and the desired closed-loop behaviour. This paper focuses on integrator systems which pose some challenges to a conventional PFC algorithm and compares and contrasts two simple alternative but very effective modifications (one of which is novel) which enable better consistency of predictions and thus enable easier tuning and more reliable closed-loop behaviour. These insights are used to give some conclusions and proposals for how more challenging dynamics might be handled.