Abstract
This paper presents a self-tuning controller where non linear VSS type self–tuning control has been embedded within a general predictive control scheme. The proposed algorithm addresses the class of nonlinear systems which can be adequately modelled by means of a Hammerstein model. The paper includes simulation results, where situations have been considered of added noise of increasing variance, and of increasing uncertainty of all the plant parameters. Moreover, performance testing of the control algorithm has been performed through a comparative analysis with respect to the self–tuning minimum variance control obtained excluding the nonlinear switching VSS mechanism. Results show a noticeable improvement in the robustness of control.
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