Adaptive robust control using discrete Laguerre functions

This paper presents a new approach to adaptive predictive control systems with robust characteristics based on nonparametric descriptions. The estimator deals with a parsimonious model of a linear stable plant based on discrete Laguerre functions. The model uncertainties are captured by the estimator as time-varying upper and lower bounds for the Laguerre coefficients. Combining the family of uncertain models with predictive control techniques in an adaptive control loop robust stability can be ensured in a Kharitonov hypercube in the space of controller coefficient. Robust stability conditions and convergence properties of the adaptive control system are performed