Non-linear generalized minimum variance feedback, feedforward and tracking control

Research output: Contribution to journalArticlepeer-review

93 Citations (Scopus)


A generalized minimum variance control law is derived for the control of nonlinear, possibly time-varying, multi-variable systems. The solution for the tracking and feedback/feedforward control law was obtained in the time-domain using a nonlinear operator representation of the process. The cost index involves both error and control signal costing terms and is normally quadratic but may also involve nonlinear functions. The feedback controller obtained is simple to implement and includes an internal model of the process. The tracking controller can include future reference change information, providing a predictive control capability. In one form the compensator might be considered a nonlinear version of the Smith Predictor that has feedforward action.
Original languageEnglish
Pages (from-to)957-969
Number of pages12
Issue number6
Publication statusPublished - 2005


  • internal model principle
  • time domain method
  • minimal variance
  • predictive control
  • control program
  • multivariable system


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