Disturbance-driven model predictive control by means of Youla–Kučera parameter switching with an application to drainage canal control

Motivated by applications such as drainage canal control, where the disturbance acting on a system can be predicted on the basis of weather forecast, we propose a model predictive control technique consisting in the online tuning of a Youla–Kučera parameter. Essentially, the optimal control sequence is supplied to the system by properly setting the coefficients of the Youla–Kučera parameter taken as a finite impulse response, whose length depends on that of the optimal trajectory. Stability is guaranteed for any arbitrary choice of the time-varying coefficients that are adapted to the current forecast of disturbance. The approach is illustrated by numerical simulations of a drainage canal control system.