in this paper standing balance control of a biped with toe-joint is presented. the model consists of an inverted pendulum as the upper body and the foot contains toe-joint. the biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. to model the interaction between foot and the ground, configuration constraints are defined and utilized. to s...

Abstract: Generalized predictive control (GPC) is nowadays, widely ,spread in control theory as well as in the industrial world. Generalized predictive control (GPC) belong to this family has been demonstrated as a powerful controlling process plants, In this work a polynomial approach of generalized predictive control is proposed whose aim to find optimal values for the tuning control and appl...

This paper presents how generalized predictive control can improve the performance of TCP/IP networks when dealing with control congestion. Predictive control and GPC (Generalized Predictive Control), in particular, can be seen as an improved AQM (Active Queue Management) method. Predictive controllers, constrained and unconstrained, are compared with other control methods, such as PI control o...

In this research, Generalized Predictivecontrol (GPC) is proposed for the control of a stabilizing loop from a two axis gimbal seeker. In fact, there are some views about using GPC type controller which are two folds. First, it drives the stabilization loops that are made by a DC motor, Rate Gyro, inertia and cross coupling unit in between two channels using the predictive model type controller...

Generalized predictive control (GPC) algorithm has been applied to all kinds of industry control systems. But systemic and effective method for nonlinear system has not been found. To this problem, this paper integrates the characteristics of PID technology and GPC, present a PID generalized predictive control algorithm for a class of nonlinear system, and improves the control quality of the sy...

-Two alternative solutions to the generalized predictive control (GPC) design problem are given for the case when the output horizon is larger than or equal to the plant order. First, using multirate models of the discrete-time plant, we present a state-space solution that does not require state observers or Riccati equation iterations for its implementation. Second, it is shown, via simple alg...