Adaptive Bilinear Model Predictive Control

An adaptive controller for bilinear plants without delay and with stable inverses is defined based upon a bilinear model predictive control law and a classical recursive identification algorithm. For the case with no disturbance both the control error and the identification error converge to zero. For the case with a bounded disturbance, the control error is bounded and the identification converges. For the case with a constant disturbance, the control error often converges to zero and the identification converges.