Robust adaptive predictive control with self-excitation

A method to insure the required excitation degree in closed loop via self-excitation is proposed for plants subject to bounded disturbances. A lower bound on the dither intensity which guarantees the required excitation degree is derived. Combining the proposed self-excitation method with a constant trace normalized RLS with a dead-zone and paradigmatic predictive control law-the stabilizing I/O receding horizon control, a globally convergent robust adaptive control algorithm is obtained for generic controllable plants. Advantages and limitations of the method are discussed