Adaptive-predictive PI control of a class of SISO systems

An adaptive PI control algorithm is developed for a class of SISO nonlinear discrete-time systems based on a generalised predictive control (GPC) approach. The design is model-free, based directly on pseudo-partial-derivatives derived online from the input and output information of the system using a standard recursive least squares identification algorithm. Simulation and real-time experiment are provided for real nonlinear systems which are known to be difficult to model and control.