Persistently Exciting Tube MPC

(2) Department of Automatic Control; Bernardo Hernandez (1); Paul Trodden (2) ((1) PhD student at the Department of Automatic Control; Systems Engineering; The University of Sheffield; The University of Sheffield)

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Persistently Exciting Tube MPC

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arxiv 1505.05772 v2 pith:OVRUYJUR submitted 2015-05-21 cs.SY math.OC

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

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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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