This chapter proposes the algorithm of extended predictive control (EPC) for a speed control system that represents an exact method for removing the ill-conditioning in a system matrix by developing a unique weighting structure for any control horizon. The tuning strategy presented in the chapter is significant because it overcomes an interrelated problem among the model predictive control (MPC) tuning parameters. An investigation compares the control performance of EPC with move suppressed MPC for speed control of DC motor. A practical application of EPC was carried out on an electric DC motor coupled with a tachogenerator speed transducer. The main advantage of EPC is that it uses an exact solution to obtain the optimal range of the condition number (CN) of the system matrix, which is then used as a tuning parameter. Industrial use of the EPC method is simple and applicable to any controllable process using the tuning scheme. Tuning of EPC is effective and simple because there is a direct relationship between closed loop performance and its tuning parameter.
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