Constrained nonlinear model-based predictive control using ARX-plus volterra models

In this paper a nonlinear adaptive constrained Model Predictive Control scheme based on models identified from input-output data is proposed. We consider single input - single output (SISO) nonlinear systems described by ARX-plus volterra models. The proposed control action is obtained by solving a fourth order nonlinear programming problem on-line subject to linear constraints on the input signal. The adaptive nonlinear control strategy is obtained by augmenting the non adaptive controller with an indirect parameter estimation scheme which accounts for unknown and/or slowly time-varying parameters. Simulation case study is used to demonstrate the practical utility of the proposed control scheme and to evaluate its performance.