TR2016-044

Further Results and Properties of Indirect Adaptive Model Predictive Control for Linear Systems with Polytopic Uncertainty


    •  Donglei, F.; Di Cairano, S., "Further Results and Properties of Indirect Adaptive Model Predictive Control for Linear Systems with Polytopic Uncertainty", American Control Conference (ACC), DOI: 10.1109/ACC.2016.7525367, July 2016, pp. 2948-2953.
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      • @inproceedings{Donglei2016jul,
      • author = {Donglei, F. and {Di Cairano}, S.},
      • title = {Further Results and Properties of Indirect Adaptive Model Predictive Control for Linear Systems with Polytopic Uncertainty},
      • booktitle = {American Control Conference (ACC)},
      • year = 2016,
      • pages = {2948--2953},
      • month = jul,
      • doi = {10.1109/ACC.2016.7525367},
      • url = {http://www.merl.com/publications/TR2016-044}
      • }
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    Mechatronics


We extend a recently developed design for indirect adaptive model predictive control (IAMPC) and presents additional results on its stability properties. IAMPC guarantees constraints satisfaction including during the learning transient, is input-to-state stable (ISS) with respect to the parameter estimation error, and has computational burden comparable to that of non-adaptive MPC. In this paper we extend IAMPC to the case of uncertain input-to-state matrix, we provide a new method to design robust constraints, and we show additional stability results, in particular that asymptotic stability does not require the parameter estimation error to be zero, which also allow us to derive a tighter ISS Lyapunov function.