Patent ID: 7203555

Claim:
A method for adjusting control signal values for use in controlling a plant to conform a system parameter to a set-point, the method comprising the steps of: receiving a set-point tracking tuning parameter, a robustness tuning parameter, a disturbance rejection tuning parameter, and an aggressiveness tuning parameter supplied by a user; determining a reference trajectory for the set-point based at least in part on the set-point tracking tuning parameter; estimating a current disturbance value for the system parameter based at least in part on the robustness tuning parameter, a model prediction value resulting from a control signal value associated with the system parameter, and an actual system value associated with the system parameter; predicting a future disturbance value based at least in part on the estimated current disturbance value and the disturbance rejection tuning parameter; and adjusting the control signal value based at least in part on the reference trajectory, the model prediction value, the future disturbance value, and the aggressiveness tuning parameter.