摘要：AbstractModel Predictive Control (MPC) algorithms have an inherently time domain based design. Design parameters are directly connected to the discrete time domain (sample time, prediction horizon), or impact the discrete time state-space model (weight matrices). We provide an analysis and design method for MPC systems in the frequency domain, including the determination of robustness margins. Pre-designed MPC applications are analyzed for their multi-dimensional gain and phase margin. An adjustment design method to improve unsatisfactory results is given. This approach is shown in a simulation example.
