Closed-loop predictive control using periodic gain

In this paper a closed-form predictive control which takes the intervalwise receding horizon strategy is presented and its stability properties are investigated. A slate-space form output predictor is derived which is composed of the one-step ahead optimal output prediction, input and output data of the system. A set of feedback gains are obtained using the dynamic programming algorithm so that they minimize a multi-stage quadratic cost function and they are used periodically.