An approach to adaptive control of continuous-time systems using multiple parallel predictive models

This paper presents an approach to adaptive control of continuous-time systems using multiple parallel predictive models. It is motivated by the Generalised Predictive Control method in discrete-time of Clarke et al [1]. By using a bank of N parallel predictive models, each one applicable to a plant model of different relative degree, an adaptive control strategy is developed which requires only knowledge of an upper bound on the order of the plant but does not require exact knowledge of the relative degree. The adaptive controller is also applicable to nonminmum phase systems.