Adaptive Model predictive Control toolbox and the mpcmoveAdaptive function

Hello everybody.

I have implemented a control system for a plant model with parameters' uncertainties, using the AMPC toolbox and the mpcmoveAdaptive function.

Is anybody know? What is the adaption algorithm that is used in these (toolbox and the function) to keep the prediction plant updated consequently with the change in the system parameters?

Clue: are they use the min-max adaption process? or another technique?

Please include any articles or likes that help me to figure out the algorithm.

thank you

Mohamed