A state space self-tuning controller with integral action

✍ Scribed by Premal Desai; A. K. Mahalanabis

• Publisher: John Wiley and Sons
• Year: 1992
• Tongue: English
• Weight: 741 KB
• Volume: 13
• Category: Article
• ISSN: 0143-2087
• DOI: 10.1002/oca.4660130404

✦ Synopsis

The paper is concerned with the problem of designing a state space self-tuning controller with integral action for a class of unknown linear stochastic systems. The observer form of the innovations model of the system is used along with a single-stage quadratic-in-state-and-control performance index which includes a cross-weighting between system states and inputs. This results in a proportional estimated state plus integral output (P + I) controller in an incremental form. While it is analogous to the LQG-theorybased optimal adaptive controller in structure, computational simplification is achieved by the choice of a single-stage performance index and a direct estimation of the state estimator gain matrix. The new controller has the advantages of being applicable to both single-inputlsingle output (SISO) and multiinputlmulti-output (MIMO) minimum phase and non-minimum phase systems. The results are illustrated numerically through two simulation examples.