Linear robust adaptive model predictive control: Computational complexity and conservatism -- extended version

11 Mar 2020 Köhler Johannes Andina Elisa Soloperto Raffaele Müller Matthias A. Allgöwer Frank

In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with theoretical guarantees (constraint satisfaction and stability), while allowing for reduced conservatism and improved performance due to online parameter adaptation... (read more)

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