0363300 20240103195443.920110913235959.9 6 s. DVD cav_un_epca*0363299978-3-902661-93-75489-5494MilanoIFAC - International Fedaration of Automatic Control2011BittantiCenedeseZampieri Model Predictive Control Parameter Tuning LQ Control Probality Calculus cav_un_auth*0101064 Belda Květoslav Adaptivní systémy Department of Adaptive Systems AS AS UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2011/AS/belda-on-line parameter tuning of model predictive control.pdf GAP102/11/0437 GA ČR CZ cav_un_auth*0273082 CEZ:AV0Z10750506 Model Predictive Control is a powerful control approach suitable for industrial applications due to its simplicity and flexibility. The aim of the paper is to introduce principal points for on-line tuning and automatic set-up of predictive control parameters. A proposed way of the tuning arises from the fact that in all control tasks, there is a certain degree of uncertainty with respect to the controlled system including its neighborhood. The strategy takes advantage of an analogy of the discrete Predictive Control and Linear Quadratic Control (LQ Control) connected with the probability calculus. The parameter tuning is demonstrated on multidimensional robotic system. cav_un_auth*0274001 18th IFAC World Congress Milano 28.08.2011-02.09.2011 IT 2012 BC 1 http://hdl.handle.net/11104/0199279 2011 cav_un_epca*0363299 Proceedings of the 18th IFAC World Congress 978-3-902661-93-7 5489 5494 Milano IFAC - International Fedaration of Automatic Control 2011 Bittanti 340 Cenedese 340 Zampieri 340