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By Björn Wittenmark; Karl Johan °Aström; International Federation of Automatic Control; International Federation of Automatic Control Technical Committee on Theory

This moment IFAC workshop discusses the diversity and purposes of adaptive platforms up to speed and sign processing. many of the methods to adaptive regulate platforms are lined and their balance and flexibility analyzed. the quantity additionally contains papers taken from poster periods to offer a concise and entire overview/treatment of this more and more very important box.

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The small sinusoidal perturbation (oy) is added to the regular controller setpoint (y ) thereby producing s the total controller setpoint (y0 ) . The control loop deviation is denoted ( e ) and the total amount of disturbances acting upont the loop as referred to the output of the process is denoted (v) . The Laplacetransform of these signals yield the relationship N ( s ) y0 ( s ) - N ( s ) v ( s ) e (s) (3 . 1 ) = In Fig . 3 . 1 the frequency of the signal generator may be changed . In the simplified analysis which follows , it is assumed that the rate of change of this frequency is rather low.

Operating of ( 2 . 3 ) by l/E gives Ay where y f Bu ( 2 . 4) f + nf � l /Ey ; f u f = l/Eu ; For future use , we now formally define the class C of plants under consideration as those which can be modelled as in (3 . 1) subject t o : Assumption A. l : (i) the operator H is exponentially stable and is analytic outside the stability region . (ii) the plant is strictly proper. CONTROL SYSTEM DESIGN The design will be based on the nominal model where E is the filter defined earlier and G is a stable transfer function giving feedforward action.

The total effect of these parameter changes on the estimate of w1 80 , is shown in Fig . 5 . 4 . I n the last phase of the experiment, the full adap­ tive controller was tested. When there is a significant change in system parameters , large transient deviations in e and oe may occur. As e and oe are inputs to the updating of I N I and w 1 8 0 ' there should b e n o updating o f these estimates when e and oe exceed some predetermined limits ( run no . 5 ) . The fol lowing initial values of the con­ troller scheme were used: Kp = 1 .

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