Gap-based Multi-model Predictive Control of a TITO System

Gap metric is widely used in multi-model control. It is used to carry out the multi-model decomposition and it is also used to realize multi-model combination. The multi-model predictive control method, which integrates the advantages of the model predictive control technique and the multi-model control method, has attracted much attention in nonlinear control systems. In this work, we present a gap-based multi-model predictive control (GMMPC) method and apply it to a two-input-two-output (TITO) nonlinear system.