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