# Dual adaptive MPC using an exact set-membership reformulation

arXiv: https://arxiv.org/abs/2211.16300 · HTML: https://mlsanity.com/paper/2211.16300/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Nov 2022.

## Built on by (most cited first, 1 of 1)

- [Achieving widetildeO(1/ε) Sample Complexity for Bilinear Systems Identification under Bounded Noises](https://mlsanity.com/paper/2603.20819/) (2026)

## Abstract (arXiv)

Adaptive model predictive control (MPC) methods using set-membership identification to reduce parameter uncertainty are considered in this work. Strong duality is used to reformulate the set-membership equations exactly within the MPC optimization. A predicted worst-case cost is then used to enable performance-oriented exploration. The proposed approach guarantees robust constraint satisfaction and recursive feasibility. It is shown that method can be implemented using homothetic tube and flexible tube parameterizations of state tubes, and a simulation study demonstrates performance improvement over state-of-the-art controllers.