An Improved Approach for Robust MPC Tuning Based on Machine Learning

Algorithm 3

Robust tuning of MPC based on machine learning.

(1) Input: the uncertainty intervals , , , and nominal system ;
(2) Output: the optimal tuning results ;
(3) Initializing PSO optimizer parameters: , , , , , , , ;
(4) Initializing the position and flying speed of the particles;
(5) , ;
(6) while or do
(7)  ;
(8)  for do
(9)    Algorithm 1;
(10)   if then
(11)    ;
(12)   end if
(13)   ;
(14)   if then
(15)    ;
(16)   end if
(17)   ;
(18)   ;
(19)  end for
(20)	end while