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Discrete two degrees of freedom PID controller based on the GPC

This paper presents an approach to obtain the optimal gains of a discrete two degrees of freedom PID controller. The optimal gains are obtained by minimizing the performance index of the GPC (generalized predictive control). The tracking performance is improved by the feedforward controller which is tuned through the proposed method. It is also shown that this method in one commercial loop controller operates well with a PC based simulation plant.