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

Algorithm 2

Pole optimization algorithm.

(1)	Assume we have M measured input/output system and
(2)	Choose the size of population N
(3)	Fix a stopping criterion
(4)	Fix an initial set of N pole vectors , , given by relation (29)
(5)	For each poles vector, identify the parameters vector for , using Algorithm 1
(6)	Compute the outputs for from relation (21)
(7)	Evaluate the fitness values of the initial population for each MISO model,
(8)	do (a)Select parents(b)Crossover(c)Mutation(d)Next population(e)Identify parameter vectors and compute the outputs for each poles vectors(f)Evaluate the fitness values of the population for every MISO model,
(9)	Until stopping criteria reached
(10)	The last population is the optimal value of the MIMO ARX-Laguerre multiple models poles