en عمومى General پژوهشي Research paper <div style="text-align: justify;">Designing linear MPC with pre-specified closed-loop characteristics for stability and robustness consideration as well as optimal time domain performance, is an interesting issue. In this paper, we develop a new enabling formulation, which can explicitly show existence and properties of the linear controller counterpart for transfer function-based MPC, known as Generalized Predictive Control. This development allows one to transform desired closed loop specifications to constraints on new-defined variables of the GPC optimization problem along with desired time domain performance-related design parameters. Input output constraints also can be transformed to constraints on these new variables. Fantastic results are illustrated by an ongoing example. It is a unified approach to answer some key questions in both theory and application such as analysis and design for desired performance, stability and robustness, controller matching, reference governor GPC, and design of model reference predictive control in data-driven control.</div> model predictive control, model reference predictive control, optimal control, robust control, controller matching, reference governor. 1 9 http://jocee.kntu.ac.ir/browse.php?a_code=A-10-6-1&slc_lang=en&sid=1 Yadollah Zakeri yzakeri@iut.ac.ir 1003194753284600229 1003194753284600229 No Isfahan University of Technology Farid Sheikholeslam sheikh@iut.ac.ir 1003194753284600230 1003194753284600230 Yes Isfahan University of Technology Mohammad Haeri haeri@sharif.ir 1003194753284600231 1003194753284600231 No Sharif University of Technology