The IMC Structure of Generalized Predictive Self-Tuning Controller and Its Globally Convergence

In this paper,the internal control structure of indirect self-tuning generalized predictive controller based on a Controlled Autoregressive Integrating Moving Average(CARIMA) model is presented.The closed loop dynamical behavior and robustness are analysed,The global convergence of this algorithm has also been given.The simulation example demonstrates the effectiveness of the algorithm proposed.