This paper presents a new robust adaptive model predictive control for a special class of continuous-time non-linear systems with uncertainty. These systems have bounded disturbances with unknown upper bound, as well as constraints on input states. An adaptive control is used in the new controller to estimate the system uncertainty. Also, to avoid the system disturbances, a H∞ method is employed to find the appropriate gain in Tube-MPC. Finally, a surge avoidance problem in centrifugal compressors is solved to show the efficiency and effectiveness of the proposed algorithm.
The tubenose goby has been reported to be the first non-native postglacial gobiid immigrant from the Lower Danube refuges. It is thus a pioneer species that was the forerunner of the extensive invasion of Ponto-Caspian gobies that ascended the River Danube and spread across Europe a century before other goby species. It appears that recently the tubenose goby invasion has accelerated. In this paper historical data on the distribution of the tubenose goby, together with data from extensive monitoring of fish communities in Slovakia are examined to evaluate both the temporal and spatial aspects of tubenose goby distribution dynamics. Until the 1990s, the species was recorded only in the River Danube and small water bodies in the Danubian Lowland (Slovakia). Since then the tubenose goby has spread upstream into tributaries of the River Danube. It was also recorded in several streams in eastern Slovakia after 2014, and the spatial data demonstrate that the tubenose goby has been colonising new water bodies, progressing to the north and ascending rivers, reaching higher altitudes than previously reported. These findings suggest that the tubenose goby deserves attention, even after two centuries following the onset of its invasion, and its further expansion across Europe should be carefully monitored.