An Analytical Tuning Approach for Adaptive MPC Parameters Applied to LTV SISO Systems

A successful implementation of model predictive control (MPC) requires parameters appropriately tuned. Such a goal is more difficult to reach with Linear-Time-Variant (LTV) systems. This is the reason why an analytical method is proposed here and especially detailed in the case of controllable single-input-single-output (SISO) systems. As an advantage, it can be applied online to indirect-adaptive MPC (IA-MPC) while guarantying the closed-loop stability and limiting the tuning computational load. Simulation results shown emphasize its effectiveness when compared to existing methods.

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