QSID-MPC: Model Predictive Control with System Identification from Quantized Data

摘要

Least-square system identification is widely used for data-driven model-predictive control (MPC) of unknown or partially known systems. This letter investigates how the system identification and subsequent MPC is affected when the state and input data is quantized. Specifically, we examine the fundamental connection between model error and quantization resolution and how that affects the stability and boundedness of the MPC tracking error. Furthermore, we demonstrate that, with a sufficiently rich dataset, the model error is bounded by a function of quantization resolution and the MPC tracking error is also ultimately bounded similarly. The theory is validated through numerical experiments conducted on two different linear dynamical systems.