Extension of modifier adaptation for controlled plants using static open-loop models

Model-based optimization methods suffer from the limited accuracy of the available process models. Because of plant-model mismatch, model-based optimal inputs may be suboptimal or, worse, unfeasible for the plant. Modifier adaptation (MA) overcomes this obstacle by incorporating measurements in the optimization framework. However, the standard MA formulation requires that (1) the model satisfies adequacy conditions and (2) the model and the plant share the same degrees of freedom. In this article, three extensions of MA to problems where (2) does not hold are proposed. In particular, we consider the case of controlled plants for which the only a model of the open-loop plant is available. These extensions are shown to preserve the ability of MA to converge to the plant optimum despite disturbances and plant-model mismatch. The proposed methods are illustrated in simulation for the optimization of a CSTR.