Adaptive Robust Anti-windup Generalized Predictive Control (RAGPC) of non-minimum phase systems with input constraints and disturbance

Ajiboye Osunleke, Mingcong Deng, Akira Inoue, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


This paper deals with a design problem of Non-minimum phase systems with input constraints and unknown disturbance using the adaptive Robust Anti-windup Generalized Predictive Control (RAGPC) scheme. In essence non-minimum phase systems are characterized by presence of dead time and invariably has unstable inverse. This effect is not desirable in control processes especially when problems of static output feedback stabilization are concerned. Consequently, robust closed-loop stability of non-minimum processes with input constraint and disturbances becomes difficult to achieve. Addressing this issue provides a good motivation for the current study. Here, we present a new scheme for controlling such systems and in overall achieving a desired robust performance. To apply the proposed design scheme to a practical system, the system has been identified adaptively and thus the control scheme is applied. The practical system considered here is a Water level experimental system whose parameters are identified adaptively offline. Simulation results are presented to support the efficacy of the proposed scheme in controlling this kind of system.

Original languageEnglish
Title of host publicationIEEE Africon 2009
Publication statusPublished - Dec 1 2009
EventIEEE Africon 2009 - Nairobi, Kenya
Duration: Sep 23 2009Sep 25 2009

Publication series

NameIEEE AFRICON Conference


OtherIEEE Africon 2009


  • Adaptive
  • Anti-windup
  • Constraints
  • Non-minimum phase
  • Predictive
  • Robust
  • Unknown disturbance

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering


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