Dual-rate min-max robust generalized predictive control

Dual-rate min-max robust generalized predictive control algorithm is proposed, which adds a constraint output horizon to improve the system properties. A certain class of system, in which the control is applied at a faster rate than the available measurements of the plant output signal, is chosen to illustrate the technique. A controller with strong robustness is derived, which is robust to disturbances by minimizing the cost function while disturbances maximize it. Some robust stability conditions are derived. Computer simulations demonstrate the usefulness of the proposed controller.