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Model predictive controller (MPC) concept is the most widely used of all modern advanced control technique
in many control application. MPC has four important tuning parameters: the weight matrix Λ, the output weight
matrix Γ, the prediction horizon P and the control horizon M. The control horizon M is the number of MV
moves that MPC calculates at each sampling time to remove the current prediction error
in many control application. MPC has four important tuning parameters: the weight matrix Λ, the output weight
matrix Γ, the prediction horizon P and the control horizon M. The control horizon M is the number of MV
moves that MPC calculates at each sampling time to remove the current prediction error
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