Abstract
Dual control for uncertain systems considers the dual roles of control inputs for control and online estimation, adding probing signals to control inputs. The control inputs can be precisely optimized by using stochastic dynamic programming, considering all the uncertainties in the control system. This is called “optimal adaptive control”, but this requires a vast online computation. Several years ago, some researchers proposed “dual predictive control”, which approximately optimizes control inputs with nonlinear optimization, requiring a reasonable amount of computation. Recently, the control has been improved to consider the uncertainties in future inputs and output references. In dual control, probing signals behave chaotic, and they should not be too large. In this sense, dual predictive control can be considered to be along, or to move towards, “the edge of chaos”, in terms of the complexity science.
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