The Use of Identified Parameter Limits in a Robust Adaptive Controller

RW Beaven, MT Wright (Aston University) & MI Friswell (University of Wales Swansea)

Control Engineering Practice, Vol. 5, No. 4, 1997, pp. 469-475


This paper describes a self-tuning regulator (STR) developed from simplified H infinity 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 simplified system, are compared to an H infinity controller and a PID with velocity feedforward controller.

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This material has been published in the Control Engineering Practice, Vol. 5, No. 4, 1997, pp. 469-475, the only definitive repository of the content that has been certified and accepted after peer review. Copyright and all rights therein are retained by Elsevier. This material may not be copied or reposted without explicit permission.

Link to paper using doi:10.1016/S0967-0661(97)00026-9

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