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Adaptive model predictive control for constrained linear systems


M. Tanaskovic

IfA Internal Seminar Series, Zurich

A novel adaptive output feedback control algorithm for constrained linear systems is proposed, able to cope with input and output constraints, output disturbances and measurement noise. The algorithm relies on a real-time set membership identification algorithm to provide bounds on the predicted plant outputs. These bounds are exploited in a receding horizon control strategy that guarantees recursive satisfaction of constraints. The algorithm yields offset free reference tracking in case of constant output disturbance and zero measurement noise. The effectiveness of the proposed approach is illustrated on a numerical example.


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M. Morari

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