APM (Simple MPC) vs. PID ? Detailed Comparison

In this paper APM (Asymptotic Predictive Method) algorithm for real time control of LTI SISO (Linear Time Invariant Single Input Single Output) systems has been compared with PID algorithm on several statistically most common real SISO models in practice. APM is specific MPC (Model Predictive Control) algorithm which defines optimal control signal using trivial sequence of counter control signals, instead of demanding QP (Quadratic Programming) method. Using Matlab simulation, APM algorithm has been compared with PID algorithm. Comparison criteria are: mean absolute error, steady-state error, settling time, overshoot, disturbance rejection and robustness. In most of simulation examples, APM algorithm has provided better control performance than PID algorithm.