2026-05-09T11:15:14.450Z http://ezaposleni.singidunum.ac.rs/rest/sciNaucniRezultati/oai

ezaposleni.singidunum.ac.rs/rest/sciNaucniRezultati/oai:1:4497 2016-10-25T07:50:45Z 1

Adaptive model predictive control for constrained MIMO systems 2013 http://ezaposleni.singidunum.ac.rs/rest/sciNaucniRezultati/oai/record/1/4497 http://www.sciencedirect.com/science/article/pii/S1474667016329196 M. Tanasković L. Fagiano R. Smith M. Morari An adaptive output feedback control algorithm for constrained multiple input multiple output linear systems is proposed, able to cope with input and output constraints, output disturbances and measurement noise. The approach relies on a real-time set membership identification algorithm to provide bounds on the predicted plant outputs. These bounds are exploited in a receding horizon control strategy that guarantees recursive satisfaction of constraints. The algorithm yields offset free reference tracking in case of constant output disturbance and zero measurement noise. The effectiveness of the proposed approach is illustrated on a numerical example. conferenceObject 39 44 11th IFAC Workshop on Adaptation and Learning in Control and Signal Processing