Model predictive control (MPC) for uncertain systems in the presence of hard constraints on state and input is a non-trivial problem, challenge increased manyfold absence measurements. In this paper, we propose an adaptive output feedback MPC technique, based novel combination observer robust MPC, single-input single-output discrete-time linear time-invariant systems. At each time instant, prov...

Model predictive controllers use dynamics models to solve constrained optimal control problems. However, computational requirements for real-time have limited their systems with low-dimensional models. Nevertheless, high-dimensional arise in many settings, example, discretization methods genera...

In this research, Generalized Predictivecontrol (GPC) is proposed for the control of a stabilizing loop from a two axis gimbal seeker. In fact, there are some views about using GPC type controller which are two folds. First, it drives the stabilization loops that are made by a DC motor, Rate Gyro, inertia and cross coupling unit in between two channels using the predictive model type controller...

In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...