Sampled-Data Output-Feedback Model Predictive Control of Nonlinear Plants Using Online Linear System Identification

Abstract

In this paper, sampled-data output-feedback model predictive control (MPC) with online identification is used to control nonlinear continuous-time plants. Using a linear model structure for system identification, the paper provides a numerical investigation of the domain of attraction of MPC. Three examples are considered within the context of sampled-data control, namely, the second-order Duffing oscillator with a single measurement, the fourth-order ball-and-beam system with two measurements, and the sixth-order circular restricted three-body problem with three position measurements.