Robust dual adaptive MPC for output tracking of linear systems

Ludovico, Davide (2022) Robust dual adaptive MPC for output tracking of linear systems. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
Il full-text non è disponibile per scelta dell'autore. (Contatta l'autore)


In this work, we present a novel robust dual adaptive model predictive control scheme for linear discrete-time systems with parametric uncertainty in the output and affected by a state-disturbance and a measurement noise. The proposed MPC framework promotes learning of the unknown parameters and in the meantime tracks a desired target output despite the presence of a state disturbance. This is possible through a suitable restriction of the state, input and output constraints that covers the whole possible range of the state disturbance. We prove that the proposed controller is practically stable and we ensure robust constraint satisfaction for state, input and output, also in the presence of parametric uncertainty and bounded noises. We corroborate the theoretical result through a numerical example simulated on Matlab.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Ludovico, Davide
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
MPC,automatic control,output tracking,active learning,robust control,dual adaptive control
Data di discussione della Tesi
21 Marzo 2022

Altri metadati

Gestione del documento: Visualizza il documento