“Descriptor Predictive Control: Tracking Controllers for a Riderless Bicycle”, 1996-07-09 (; backlinks):
Descriptor Predictive Control (DPC) is a hybrid open-loop closed-loop control strategy for trajectory tracking of nonlinear systems.
The intrinsic idea of DPC is the combination of feedback control and the implicit formulation of a control law, the control being obtained by iteratively solving a descriptor system.
We consider 3 models for the riderless bicycle. A cart, a cart plus an inverted pendulum, and a complex model taking into account the complete geometry of a bicycle.
We show first on the simple, then on the complex model, how to obtain an output tracking controller using the concept of DPC.