This paper presents a novel modification and insights in the topic of predictive functional control (PFC). Of particular interest is the consistency between the predictions deployed by PFC and the desired closed-loop behaviour. This paper focuses on integrator systems which pose some challenges to a conventional PFC algorithm and compares and contrasts two simple alternative but very effective modifications (one of which is novel) which enable better consistency of predictions and thus enable easier tuning and more reliable closed-loop behaviour. These insights are used to give some conclusions and proposals for how more challenging dynamics might be handled.

本文介绍了预测功能控制（PFC）主题中的新颖修改和见解。特别令人感兴趣的是PFC部署的预测与所需闭环行为之间的一致性。本文着重于对常规PFC算法提出一些挑战的积分器系统，并比较和对比了两个简单的替代方案但非常有效的修改（其中之一是新颖的），这些修改可实现更好的预测一致性，从而使调整更容易，闭环更可靠行为。这些见解用于就如何处理更具挑战性的动力学给出一些结论和建议。