Szukana fraza: [Abstract = "In this paper, the optimal control law is derived for a multi\-variable state\-space Linear Quadratic Gaussian Predictive Controller \(LQGPC\). A dynamic performance index is utilized resulting in an optimal steady\-state controller. Knowledge of future reference values is incorporated into the controller design and the solution is derived using the method of Lagrange multipliers. It is shown how the well\-known GPC controller can be obtained as a special case of the LQGPC controller design."]

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