Multivariable adaptive generalized predictive control

of a flexible arm


M. Ezzaraa1*, M. Ait Lafkih2, M. Ramzi3

1, 2, 3 Laboratory of Automatic and Energy Conversion (LACE)

Electrical Engineering Department, Faculty of Sciences and Technology

University of Sultan Moulay Slimane, B.P: 523

23000 Beni-Mellal, Morocco

* Corresponding author. E-mail:

Received: 13 March 2011; revised version accepted: 29 March 2011



     This paper presents a multivariable adaptive control which combines the process of system identification using recursive least-squares (RLS) algorithm and the process of Generalized Predictive Control design, has been presented and simulated on an flexible arm. The proposed control algorithm introduces a simple design in the case of higher-order and non minimum phase plants. The simulation result shows the effectiveness and the validity of the proposed methodology.


Keywords: Multivariable adaptive control; Identification; Recursive least-squares (RLS); Generalized Predictive Control (GPC); Flexible arm.



© 2015