Real-time implementation of adaptive feedback and feedforward generalized predictive control algorithm

The adaptive generalized predictive control (GPC), which combines the process of system identification using recursive least-squares (RLS) algorithm and the process of generalized predictive feedback control design, has been presented and successfully implemented on testbeds. In this paper, the adaptive GPC algorithm is extended when the disturbance measurement signal is available for feedforward control. First, the adaptive feedback and feedforward GPC algorithm is presented when the disturbance is stochastic or random. Second, the adaptive algorithm is further extended when the disturbance is deterministic or periodic. In the second case, measured disturbance signals are used to estimate future disturbance values, which are used in the control design. The proposed adaptive GPC design algorithm with/without the future disturbance estimation is implemented in real time and demonstrated for the application of acoustic noise control, structural vibration control, and optical jitter control.