Robust and Adaptive Predictive Control based on Comparison Model

Abstract

In this paper, we present a robust and adaptive model predictive control (MPC) algorithm for constrained linear systems. To overcome the conservativeness of robust MPC method based on the conventional adaptive control, we propose a new parameter estimation method compatible with robust and adaptive MPC. It is shown that the proposed robust and adaptive MPC algorithm guarantees the feasibility and stability of closed-loop system in the presence of input and state constraints.