Szukana fraza: [Abstract = "The plant cancellation issue is taken into account. Conditions for the existence of the solution of the GPC design and the corresponding rules of tuning of the resulting controller are given. A suitable iterative procedure for a simultaneous determination of the AF\-GPC design parameters \(the control horizon and the order of plant cancellation, as well as the controller gain\) and a root locus interpretation of the design are also supplied."]