Persistently Exciting Tube MPC
For control systems requiring online identification and regulation, this method provides a principled way to ensure persistent excitation without sacrificing robust performance.
This paper introduces a tube MPC framework that splits control input into a regulator and a persistently exciting part, enabling simultaneous system identification and regulation. The approach enforces a non-convex constraint on the excitation signal to guarantee sufficient identification, with the regulator part handled via robust MPC treating excitation as bounded disturbance.
This paper presents a new approach to deal with the dual problem of system identification and regulation. The main feature consists of breaking the control input to the system into a regulator part and a persistently exciting part. The former is used to regulate the plant using a robust MPC formulation, in which the latter is treated as a bounded additive disturbance. The identification process is executed by a simple recursive least squares algorithm. In order to guarantee sufficient excitation for the identification, an additional non-convex constraint is enforced over the persistently exciting part.