Robust adaptive MPC for discrete-time systems

This article establishes a sound theoretical for the analysis of robust adaptive MPC control system subject to exogenous disturbances for a class of discrete-time nonlinear control systems. No claims are made concerning the computational requirements of the proposed min-max approach to adaptive MPC technique. However, it is argued that a Lipschitz-based approach provides a conservative approximation of the min-max approach that retains all of the stability and robustness properties. The uncertainties associated with the parameters is handled using the set-based estimation approach for a class of discrete-time nonlinear systems presented. It is shown how this set-based approach can be formulated in the context of nonlinear adaptive MPC approach for discrete-time systems in the presence of parameter uncertainties and exogenous disturbances.