Looks at choices of input horizon equal to 2 and demonstrates that for many cases this is not sufficiently flexible to give good predictions and thus cannot lead to an expectation of good closed-loop behaviour.

Demonstrates that the input weighting parameter has a limited range of efficacy which is linked to the horizons. Moreover, it is shown that the required horizons for a well-posed optimisation are strongly linked to the choice of this weighting. Also demonstrates that the parameter must be used...

Gives a number of illustrations of GPC predictions with short output horizons and demonstrates how the associated predictions are often very poor which in turn suggests the GPC optimisation is ill-posed and not to be trusted.