Adaptive Model Predictive Control for Linear Systems with Parametric Uncertainties and Input Delay

This paper investigates the adaptive model predictive control (MPC) for a class of constrained linear multiple-input multiple-output (MIMO) systems with constant parametric uncertainty and input delay. An adaptive update law based on time-varying updating rate is proposed, which enables the update of uncertain parameters in the presence of input delay. Consequently, to deal with constraints, we convert the optimization problem into a solvable simple structure, which originates from the min-max optimization. Furthermore, we theoretically show that the closed-loop system is asymptotically stable and the proposed adaptive MPC strategy is proved to be recursively feasible. Finally, numerical simulation and comparison are given to illustrate the efficacy of the proposed method.