Compare MPC and Adaptive MPC?

Model Predictive Control (MPC) is an advanced method of process control that is used to control a process
while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil
refineries since the 1980s. MPC allows the current timeslot to be optimized, while keeping future timeslots in
account. This is achieved by optimizing a finite time-horizon, but only implementing the current timeslot and
then optimizing again, repeatedly, thus differing from a linear–quadratic regulator (LQR). Also, MPC has the
ability to anticipate future events and can take control actions accordingly.
Strengths:
• Handles multiple inputs and outputs effectively.
• Robust to disturbances within the model's limitations.
• Good for complex systems with known dynamics.
Weaknesses:
• Sensitive to model accuracy. May struggle if the actual system behavior deviates significantly from the
model predictions.
• Computationally expensive due to repeated optimization at each control step.
Adaptive MPC (AMPC) is a variant of MPC that uses an adaptive model to improve the performance of the
controller. AMPC is designed to handle systems with time-varying dynamics or uncertain parameters. The
adaptive model is updated online using measured data, which allows the controller to adapt to changes in the
system dynamics.
Extends MPC with model adaptation: continuously updates the model used for prediction n based on real-time
data and measurements. If your system is nonlinear, but it can be approximated by linear models at operating
points of interest, then you can use adaptive MPC.
Strengths:
• Maintains good performance even when the system dynamics change or disturbances occur.
• More robust to model uncertainties and inaccuracies.
• Suitable for complex and non-linear systems with unpredictable behavior.
Weaknesses:
• More complex to implement than standard MPC.
• Requires additional design effort for the model adaptation mechanism.
• Can be computationally expensive depending on the chosen adaptation technique.
Key differences:

• Model adaptation: Standard MPC uses a fixed model, while Adaptive MPC continuously updates it.

• Robustness to changes: Adaptive MPC is better at handling unexpected changes and disturbances in the
system.

• Applicability: Standard MPC is suitable for well-modeled systems with predictable behavior, while Adaptive
MPC is more versatile for complex and uncertain systems.

The main difference between MPC and AMPC is that MPC uses a fixed model of the system, while AMPC uses
an adaptive model that is updated online. This makes AMPC more robust to changes in the system dynamics
and more accurate in tracking the desired trajectory.

If the plant is strongly nonlinear or its characteristics vary dramatically with time, LTI prediction accuracy
might degrade so much that MPC performance becomes unacceptable.
Adaptive MPC has two main capabilities,
1.Online parameter estimation(AMPC is the application of OPE)
2.Control law
Real time example of Adaptive MPC:
Flow chart:
Flowchart:
Start

Initialize

Measurement
Acquisition

State Estimation

Prediction Step

Optimization

Control Update

Adaptation

Iteration

End
1. Initialize:
1. Set initial state estimates and reference trajectory.
2. Initialize plant model parameters and uncertainty estimates.
3. Define prediction horizons.
2. Measurement Acquisition:
1. Obtain measurements of the system outputs at every control step.
3. State Estimation:
1. Update the state estimates based on the latest measurements and the plant model.
4. Prediction Step:
1. Use the model and current state estimates to predict the future system outputs over the
prediction horizon for different control sequences.
5. Optimization:
1. Solve an optimization problem within the prediction horizon that minimizes a cost function.
6. Control Update:
1. Apply the first control input from the optimal control sequence calculated in the optimization
step.
7. Adaptation:
2. Analyze the difference between predicted and actual outputs to identify model mismatch or
disturbances.
3. Update the plant model parameters and/or uncertainty estimates based on the identified
mismatch.
8. Iteration:
4. Go back to step 2 and repeat the process for the next control step.
Applications of Adaptive MPC:
1. Process Control:
Chemical reactors
Distillation columns
Paper production
2. Power Systems:
Microgrids
Hydroelectric power plants
Battery management systems
3. Aerospace:
Rocket control
Satellite attitude control
Aircraft flight control