An Adaptive Nonlinear Predictive Controller

The design and implementation of a new adaptive nonlinear predictive controller is presented using a general nonlinear model and variable transformations. The resulting controller is similar in form to standard linear model predictive controllers and can be tuned analogously. This design allows the controller to be updated on-line without recalculating the controller gain matrix, which involves a matrix inversion. The new controller is compared to a PI controller and to an adaptive linear predictive controller through simulations.