A predictive control policy that utilizes a finite time horizon with end-time constraints is described. The control law minimizes actuator movement while satisfying both process and control output constraints imposed at the end of the time horizon. A single user definable parameter, directly related to the desired settling time of the process, can be used to tune the controller. System response to set-point and load disturbances for different linear time invariant plants is presented to illustrate the significant features of the algorithm. Performance relative to conventional PID control is demonstrated as are robustness characteristics for a specific system. Field tests in a heat pump test chamber illustrate actual nonlinear time-varying performance.

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