A gradient-descent method for the run-to-run tuning of MPC controllers is proposed. It is shown that, with an assumption on process repeatability, the MPC tuning parameters may be brought to a locally optimal set. SISO and MIMO examples illustrate the characteristics of the proposed approach.
Alireza Karimi, Philippe Louis Schuchert
Fabio Nobile, Sebastian Krumscheid, Matthieu Claude Martin
Maryam Kamgarpour, Luca Furieri