Dual MPC for quasi-Linear Parameter Varying systems
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2026
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866910088428519424 |
|---|---|
| author | Mulagaleti, Sampath Kumar Bemporad, Alberto |
| author_facet | Mulagaleti, Sampath Kumar Bemporad, Alberto |
| contents | We present a dual Model Predictive Control (MPC) framework for the simultaneous identification and control of quasi-Linear Parameter Varying (qLPV) systems. The framework is composed of an online estimator for the states and parameters of the qLPV system, and a controller that leverages the estimated model to compute inputs with a dual purpose: tracking a reference output while actively exciting the system to enhance parameter estimation. The core of this approach is a robust tube-based MPC scheme that exploits recent developments in polytopic geometry to guarantee recursive feasibility and stability in spite of model uncertainty. The effectiveness of the framework in achieving improved tracking performance while identifying a model of the system is demonstrated through a numerical example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_29445 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Dual MPC for quasi-Linear Parameter Varying systems Mulagaleti, Sampath Kumar Bemporad, Alberto Systems and Control We present a dual Model Predictive Control (MPC) framework for the simultaneous identification and control of quasi-Linear Parameter Varying (qLPV) systems. The framework is composed of an online estimator for the states and parameters of the qLPV system, and a controller that leverages the estimated model to compute inputs with a dual purpose: tracking a reference output while actively exciting the system to enhance parameter estimation. The core of this approach is a robust tube-based MPC scheme that exploits recent developments in polytopic geometry to guarantee recursive feasibility and stability in spite of model uncertainty. The effectiveness of the framework in achieving improved tracking performance while identifying a model of the system is demonstrated through a numerical example. |
| title | Dual MPC for quasi-Linear Parameter Varying systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.29445 |