Abstract
Model Predictive Control (MPC) is a moving horizon scheme for stabilizing a plant to an operating point. It’s generalization, Model Predictive Regulation (MPR), is a moving horizon scheme for tracking a reference signal or rejecting a known disturbance. Adaptive Horizon Model Predictive Regulation (AHMPR) is a scheme for varying as needed the length of the horizon of Model Predictive Regulation. Its goal is to achieve tracking or disturbance rejection with horizons as small as possible. This allows AHMPR to be used on faster and/or more complicated dynamic processes.
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