A novel approach to PFC for nonlinear systems

This paper proposes a computationally efficient predictive control law for non-linear systems, that is one that can easily be coded and implemented on low cost hardware. Moreover, it has a secondary core benefit that the core tuning parameter reduces to a single choice which is: how much faster than open-loop would you like the closed-loop to converge? Simulations demonstrate that for some non-linear systems this is a cheap and simple way of ensuring effective feedback, with constraint handling.