An adaptive model predictive control strategy for a class of discrete-time linear systems with parametric uncertainty

In this study, an adaptive model predictive control (MPC) strategy is proposed for a class of discrete-time linear systems with parametric uncertainty. In the presented adaptive MPC, an updating law is firstly designed to update the estimated parameters online. By utilizing the estimated parameters, a standard MPC optimization problem for unconstrained systems is established. Then, to deal with constrained systems, the min-max MPC technique is developed under the set-based approach for the estimated parameters. Furthermore, it is shown theoretically that the recursive feasibility and closed-loop stability can be rigorously proved, respectively. Finally, numerical simulations and comparative analysis are presented to illustrate the superiority of the proposed algorithms in control performance.