Global Convergence of Implicit Self-Tuning Generalized Predictive Controller
隐式自校正广义预测控制器及其全局收敛性

As to the convergency property of the implicit algorithm of the generalized predictive self-tuning controller, its satisfactory result has not yet been found. In this paper, by introducing an equivalent cost function and considering the parameter error of the model, an implicit self-tuning generalized predictive controller based on CARIMA model is presented. Parameters of the self-tuning controller can also be recursively estimated by introducing two identifiers. In the end, the convergent property of the proposed implicit algorithm is also given.