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Adaptive receding horizon control for constrained MIMO systems

Author(s):

M. Tanaskovic, L. Fagiano, R. S. Smith, M. Morari
Conference/Journal:

Automatica, vol. 50, no. 12, pp. 30193029
Abstract:

An adaptive control algorithm for constrained, linear, multiple input multiple output systems is presented. The proposed approach can deal with both input and output constraints, as well as measurement noise and output disturbances. The adaptive controller consists of an iterative set membership identification algorithm that provides a set of candidate plant models at each time step and a model predictive controller that enforces input and output constraints for all the plants inside the model set. The algorithm relies only on the solution of standard convex optimization problems that are guaranteed to be recursively feasible. In addition, it exhibits integral action which enables offset-free tracking of constant reference signals. Finally, the experimental results obtained by applying the proposed controller to a quad-tank testbed are presented.

Year:

2014
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { TanEtal:2014:IFA_4615,
    author={M. Tanaskovic and L. Fagiano and R. S. Smith and M. Morari},
    title={{Adaptive receding horizon control for constrained MIMO
	  systems}},
    journal={Automatica},
    year={2014},
    volume={50},
    number={12},
    pages={30193029},
    month=dec,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4615}
}
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