Persistently Exciting Tube MPC

arxiv: 1505.05772 · v2 · pith:OVRUYJURnew · submitted 2015-05-21 · 💻 cs.SY · math.OC

Persistently Exciting Tube MPC

Bernardo Hernandez (1) , Paul Trodden (2) ((1) PhD student at the Department of Automatic Control , Systems Engineering , The University of Sheffield , (2) Department of Automatic Control , The University of Sheffield) This is my paper

classification 💻 cs.SY math.OC

keywords excitingidentificationpartpersistentlysystemadditionaladditivealgorithm

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This paper presents a new approach to deal with the dual problem of system identification and regulation. The main feature consists of breaking the control input to the system into a regulator part and a persistently exciting part. The former is used to regulate the plant using a robust MPC formulation, in which the latter is treated as a bounded additive disturbance. The identification process is executed by a simple recursive least squares algorithm. In order to guarantee sufficient excitation for the identification, an additional non-convex constraint is enforced over the persistently exciting part.

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Persistently Exciting Tube MPC

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