Abstract
Effects of multipredictor information in adaptive control are studied, particularly from the standpoint of plant structural uncertainties and unmodelled dynamics. By an O.D.E. analysis it is shown that, for an AHMAX plant, the equilibria of a multipredictor based LQ self-tuning regulator, viz. the MUSMAR algorithm, are the extrema of a receiding horizon variant of the cost. Further, if the control horizon is large enough, MUSMAR only possible convergence points tightly approximate the local minima of the unconditional quadratic cost constrained to the chosen regulator regressor
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