摘要：AbstractThis paper deals with a design problem of an adaptive predictive control for uncertain multi-rate sampled systems. In the proposed method, an adaptive predictive control using a simple adaptive output estimator, which has been previously proposed for single-rate sampled system, will be expanded to a multi-rate sampled system. A robust and model-free design method of feedforward compensators for designing the adaptive output estimator for predictive control and for setting an input constraint, “almost strictly positive real (ASPR) constraint” for stable control system will also be provided for the considered multi-rate systems. The effectiveness of the proposed method will be confirmed through an experiments of two-tank process control.
