Adaptive model predictive controller

Good day, i have some problems in construting the adaptive mpc controller for 2dof robotic arm as i dont know how to construct the online estimation part when i refer to the online parameters estimation and adaptive control video. Can i have a review for the adaptive controller part as i dont know where is the wrong part.

The file attached is a basic MPC control system and another adaptive control system that has not been successfully done in simulink. The MAT-file is a variable for the controller.

Thanks for the time.

Answer 1

[Emmanouil Tzorakoleftherakis]

Have you seen this example?

[eric wong]

Yes, but it seems that the recursive polynomial model estimator block doesn't support multi output port if no mistaken.

For now, I managed to get my discrete-time state space model in workspace but i dont know how to implement it into simulink and connect to model port of adaptive MPC block.

[eric wong]

I had try another way referring to this video: https://www.youtube.com/watch?v=aQhpvrQPxD4

but seems i got the same result comparing to the basic MPC model.