MODEL PREDICTIVE CONTROL SUITABLE FOR CLOSED-LOOP RE-IDENTIFICATION

GONZÁLEZ, ALEJANDRO HERNÁN; BUSTOS, GERMÁN ANDRÉS; FERRAMOSCA, ANTONIO; MARCHETTI, JACINTO LUIS

Buenos Aires

Congreso; XXIIIº Congreso Argentino de Control Automático, Buenos Aires, Argentina; 2012

AADECA

The main problem of a closed-loop re-identi cation procedure is that, in general, the dynamic control and identi cation objectives are conicting. In fact, to perform a suitable identi cation, a persistent excitation of the system is needed, while the control objective is to stabilize the system at a given equilibrium point. However, an abstraction or generalization of the concept of stability, from punctual stability to (invariant) set stability, allows a exibility that can be used to avoid the conict between these objectives. Taking into account that an invariant target set includes not only a stationary component, but also a transient one, the system could be excited without deteriorating the stability of the closed-loop. In this work, a MPC controller is proposed that assures the stability of invariant sets at the same time that a signal suitable for closed-loop re-identi cation is generated. Several simulation results show the propose controller formulation properties