Adaptive Nonlinear Model Predictive Control for a Class of Transport Phenomena Processes

Abstract

An adaptive NMPC for a given class of uncertain systems with transport phenomena in which the manipulated variable is the velocity is formulated and developed. A stable distributed parameter estimator is derived, in the Lyapunov sense, and combined with the NMPC algorithm using the certainty equivalence principle. Although for the combined NMPC with the Lyapunov adaptive law stability is not in general guaranteed, a condition that ensures outperforming a robust control stabilizing law is under development, albeit been obtained in some cases. The design procedure and the resulting performance is illustrated by simulations in a bioreactor with a Contois kinetics.