Predictive Cost Adaptive Control of Flexible Structures with Harmonic and Broadband Disturbances

Indirect adaptive control of flexible structures is considered under harmonic and broadband disturbances. Limited prior modeling information is assumed, and system identification with an input-output model structure is performed online in the presence of the exogenous disturbance. By realizing the input-output model structure in block observable canonical form, the full state is available, which facilitates output-feedback control without the need for an observer. The control input is determined by model predictive control (MPC) using quadratic programming for receding horizon optimization. The resulting sampled-data controller is implemented at a fixed sample rate, where the frequencies of some of the modes may lie above the Nyquist rate, thus emulating spillover. The approach is applied to a truss structure with 16 lightly damped modes.