Adaptive receding horizon control for a class of linear time delay systems

A receding horizon control (RHC) algorithm for a class of time delay systems is proposed, which estimates system state delays on-line and produces the stabilizable control input for state-delay estimation errors. To this end, a generalized Newton type delay identifier is proposed. Second, an adaptive RHC algorithm is developed by combining the on-line delay estimation. The control law is obtained by minimizing a finite horizon cost and its closed-loop stability is guaranteed by satisfying an inequality condition on the terminal functional.