A stable adaptive predictive control system

An adaptive, predictive control system (APCS) is described and a formal proof of global stability is presented for the case of multi variable, stable - in verse, time - invariant processes in the presence of bounded, unmeasured disturbances plus process and measurement noise. Global stability is proven in the sense that the process input / output vector remains bounded and the control error is minimized. The proof of stability is based on certain properties of the aposteriori estimation error and convergence properties of the estimated parameters. Reference is also made to successful experimental and simulation applications of APCS.