Fault Tolerant Control for MIMO Nonlinear Systems via MPC Based on MIMO ARX-Laguerre Multiple Models

Algorithm 1

Recursive parametric identification.

(1)	Assume we have M inputs/outputs couples and
(2)	Choose the number of submodels and fix the truncating orders
(3)	Assume that the Laguerre poles vectors , are optimized
(4)	Calculate the matrices and for and given by (23) and (25), respectively
(5)	Initialize the parameter vectors , and the state vectors for and
(6)	For (a)Calculate for from relations (28) and (A.17)(b)Deduce the matrix and form the vector as given in relation (39)(c)Compute the estimated Fourier coefficients at time instant h, , using (41)(d), go to step (a)