Patent Document ID: 20050256593
Application ID: 10845840
Patent Flag: 0

Claim One:
1. 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: determining a reference trajectory for the set-point based at least in part on a set-point tracking tuning parameter; estimating a current disturbance value for the system parameter based at least in part on a 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 a 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 an aggressiveness tuning parameter.