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%%Creator: fig2dev Version 3.2 Patchlevel 4
%%CreationDate: Sun Feb 13 16:43:44 2005
%%For: dkedar@y.glue.umd.edu (Kedar H. Dave,CHE-2208A,3014051923,3019822995,Prof. Kyu Yong Choi)
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3302 1309 l 3344 1292 l 3382 1277 l 3413 1264 l 3440 1254 l
3462 1245 l 3479 1239 l 3493 1234 l 3503 1230 l 3512 1227 l
3519 1225 l 3525 1223 l 3531 1221 l 3537 1218 l 3546 1215 l
3556 1209 l 3570 1202 l 3587 1192 l 3609 1179 l 3636 1164 l
3668 1144 l 3705 1121 l 3748 1093 l 3795 1062 l 3847 1027 l
3900 990 l 3947 956 l 3993 921 l 4037 887 l 4080 853 l
4121 819 l 4159 787 l 4196 755 l 4231 724 l 4265 693 l
4297 663 l 4328 634 l 4357 605 l 4386 577 l 4413 549 l
4440 522 l 4466 495 l 4490 470 l 4514 445 l 4536 421 l
4556 399 l 4575 379 l 4592 360 l 4607 344 l 4620 329 l
4630 318 l 4639 308 l 4645 301 l 4650 296 l 4653 293 l
4654 291 l
4655 290 l gs col0 s gr
/Times-Roman-iso ff 375.00 scf sf
4575 6450 m
gs 1 -1 sc (k) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
8880 6450 m
gs 1 -1 sc (k+M) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
5161 7320 m
gs 1 -1 sc (Control Horizon \(M\)) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
5167 8220 m
gs 1 -1 sc (Prediction Horizon \(P\)) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
6337 1830 m
gs 1 -1 sc (Control move \( u\)) col0 sh gr
/Symbol ff 375.00 scf sf
8605 1830 m
gs 1 -1 sc (D) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
12625 6450 m
gs 1 -1 sc (k+P) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
5120 6445 m
gs 1 -1 sc (k+1) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
2115 6450 m
gs 1 -1 sc (k-3) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
-1763 67 m
gs 1 -1 sc (Measured output \(y\)) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
1350 1125 m
gs 1 -1 sc (Present time) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
9975 1050 m
gs 1 -1 sc (Predicted output \(y\)) col0 sh gr
/Times-Roman-iso ff 600.00 scf sf
1350 -1200 m
gs 1 -1 sc (PAST) col0 sh gr
/Times-Roman-iso ff 600.00 scf sf
6300 -1200 m
gs 1 -1 sc (FUTURE) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
12007 3555 m
gs 1 -1 sc (Input constraints) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
11452 -1335 m
gs 1 -1 sc (Output constraints) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
6315 1200 m
gs 1 -1 sc (Set-point \(Target\)) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
-1650 7950 m
gs 1 -1 sc (Manipulated input \(u\)) col0 sh gr
/Times-Roman-iso ff 375.00 scf sf
12675 915 m
gs 1 -1 sc (^) col0 sh gr
% here ends figure;
$F2psEnd
rs
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