This work deals with the problem of simultaneous regulation and model parameter estimation in adaptive model predictive control. We propose an adaptive model predictive control and conditions which guarantee a persistently exciting closed loop sequence by only looking forward in time into the receding prediction horizon. Earlier works needed to look backwards and preserve prior regressor data. Instead, we present a procedure for the offline generation of a persistently exciting reference trajectory perturbing the equilibrium. With the new approach we demonstrate exponential convergence of nonlinear systems under the influence of the adaptive model predictive control combined with a recursive least squares identifier with forgetting factor despite bounded noise. The results are, at this stage, local in state and parameter-estimate space.
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