Robust-stabilizing controller horizons on the basis of predictive model with truncated pulse transient function

Consideration was given to the problem of determining the robust-stabilizing values of the control (M) and prediction (P) horizons for the systems with predictive controllers. The specified $z$-image of the controller with predictive model allows one to examine the asymptotic characteristics of the closed loop and determine the condition for system robust stability in the case of astatic delay plants. The advantage of the proposed method of determination of M and P was demonstrated by way of example.