Explicit Nonlinear MPC for Fault Tolerance Using Interacting Multiple Models

This article presents a novel algorithm for adaptive explicit nonlinear model predictive control (eNMPC) with applications to fault tolerance. In order to account for plant-model mismatch, under which fault tolerance applies, the controller's explicit solution is designed with multiple dynamic models representing various operating modes as opposed to a single system model. Each model is weighted by a parameter variable to be evaluated online as …