adaptive model predictive control
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In the following link (or above picture) in the controlled system, why are the initial inputs and outputs are subtracted from system inputs/outputs and the resulting signals then delayed? I have indicated these parts in a red rectangle.
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Arkadiy Turevskiy
il 18 Mag 2015
The intitial values are substracted to remove the offset from the data. The delay block resamples continuous signals coming from the plant model, as the estimator requires discrete-time signals sampled at Ts. You could use Rate Transition block instead.
Hope this helps.
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