Simple prefilter design in GPC for a wide class of industrial processes

This paper presents a simple design method for improving the robustness of the GPC using the T polynonial as a filter. Although different methods have been proposed in literature, the one presented here not only proposes a choice of the polynomial, but differs from the others in the way that the polynomial is used to filter the predktions. The method is valid for a wide range of processes commonly found in industry, those that can be described by means of a static gain, time constant and dead-time and has special interest when the process has uncertainties in the dead-time