A designer guide for grey-box identification of nonlinear dynamic systems with random disturbances : T. Bohlin, pp 485–488
- Publisher
- Elsevier Science
- Year
- 1995
- Tongue
- English
- Weight
- 129 KB
- Volume
- 3
- Category
- Article
- ISSN
- 0967-0661
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✦ Synopsis
decoupling is discussed. An equivalent linear controller for the algorithm is given for robust stability analysis. Some rules for choosing the tuning knobs of GPC/MRM from the robust stability point of view are established. The introduction of an observer, as in GPC, is extended to MIMO GPC/MRM, and its effects on robust stability are studied. The method is applied to a flexible arm system; simulation results show the controller's decoupling efficiency and robustness. 100 Model Reduction for PID Design A~I. Isaksson, S.F. Graebe, pp 467-472 Generally, Internal Model Control (IMC) results in a controller of the same order as the model. Therefore, within the IMC paradigm, PID control of higher than second-order plants is associated with a model-reduction problem. Solutions to this problem have previously been formulated as criterion optimisation. This paper outlines a computationally convenient alternative, in which the model is calculated as the average of the model obtained by retaining the slowest pole(s), and that obtained by retaining the low-order coefficients. Advantages of this technique include simplicity, preservation of physical parameters, and a closed-loop performance that is comparable to, or better than, existing methods in most cases. 101 Identification of Continuous-Time Systems with Partially-Known State-Dependent Disturbances C. Canudas de Wit, B. Brogliato, C.R. Johnson, pp 473-476 This paper presents two continuous-time versions (with and without data normalization) of the exponentially weighted reclusive least-squares algorithm (EW-RLS). These algorithms are suitable for identifying systems with bounded partially known disturbances, since they explicitly account for these disturbances and ensure parameter boundedness. The paper presents the derivation of these algorithms and the associated convergence issues. 102 Grey Box Model-based Adaptive Control H. Brabrand, S. Bay Jergensen, pp 477-480