A direct adaptive generalized predictive control structure - Application to a flexible structure

Predictive control algorithms have proved to be efficient, flexible and successful for industrial applications, Moreover, for systems with time-varying parameters, acceptable performances may be maintained with adaptive controllers. This paper presents a direct version of adaptive generalized predictive control (DAGPC) with a control loop including a polynomial GPC controller, and a recursive least squares-type strategy for the controller parameters on-line identification, with the explicit use of forgetting factors. An application is finally proposed on a benchmark with flexible structures. Copyright (C) 1998 IFAC.