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It is widely accepted that in order to improve the robust stability of generalized predictive control (GPC), the use of a prefilter  and terminal equality constraints plays a fundamental role. In this work it is shown with straightforward counterexamples how, in the presence of structured uncertainties, neither the prefilter nor the equality constraints guarantee that the robust stability is improved. In fact, it can even worsen compared with “conventional” GPC.

GPC with Structured Perturbations: The Influence of Prefiltering and Terminal Equality Constraints