The use of identified parameter limits in a robust adaptive controller

This paper describes a self-tuning regulator (STR) developed from simplified H∞ controller synthesis and recursive least squares with variable forgetting-factor parameter-estimation algorithms, for single axes of high-speed servo drive systems. The problem of controller modifier and system identifie...

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Bibliographic Details
Published inControl engineering practice Vol. 5; no. 4; pp. 469 - 475
Main Authors Beaven, R.W., Wright, M.T., Friswell, M.I.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.04.1997
Subjects
DC servo systems
real-time adaptation
Self-tuning regulator
DC servo systems
real-time adaptation
Self-tuning regulator
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ISSN0967-0661
1873-6939
DOI10.1016/S0967-0661(97)00026-9

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Summary:This paper describes a self-tuning regulator (STR) developed from simplified H∞ controller synthesis and recursive least squares with variable forgetting-factor parameter-estimation algorithms, for single axes of high-speed servo drive systems. The problem of controller modifier and system identifier interaction causing numerical instability in the STR algorithm, leading to system instability, is examined. A method of overcoming this problem by the use of identified parameter limits is given. The STR results, for a simulated system, are compared to an H∞ controller and a PID with velocity feedforward controller.
ISSN:0967-0661
1873-6939
DOI:10.1016/S0967-0661(97)00026-9