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Robustness of an adaptive predictive controller

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3 Author(s)
Clarke, D.W. ; Dept. of Eng. Sci., Oxford Univ., UK ; Mosca, E. ; Scattolini, R.

In this correspondence, robustness properties of an adaptive predictive controller are presented. The algorithm is obtained via a receding horizon control strategy by minimizing a quadratic performance index under the constraint that the output matches the reference over a suitable number of terminal steps. Both the nonadaptive and an adaptive version of the algorithm are examined in the case of unmodeled plant dynamics

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Automatic Control, IEEE Transactions on  (Volume:39 ,  Issue: 5 )