Input-dependent adaptive immersion and Invariance control

There are many systems that have unknown model parameters or include modeling errors in the parameters. However, it is desirable to control such systems using a model including these features. In this paper, we propose an adaptive model predictive control method to estimate the unknown parameters and to produce the inputs simultaneously. To realize this aim, adaptive Immersion and Invariance control is applied to estimate the unknown parameters and a model predictive control algorithm is adopted to calculate the input. Using this algorithm, the control performance can be improved.