Patent US 5,301,101

Disclosed is an adaptive and predictive controller having self tuning capabilities. The receding horizon window and sample interval are determined by the tunning mechanism automatically, based on the relationship between the controlled and manipulated variables. The interval and window may be set by the user as well. Constraints on the manipulated and controlled variables at the end of the horizon window are accommodated automatically. In addition to providing servo regulatory control the invention teaches simultaneous minimization of operating costs.