Nominal optimal controller with enhanced
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L. GiarrΓ©
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Article
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1996
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John Wiley and Sons
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English
β 610 KB
A self-tuning of the Q-parameterization transfer matrix is presented in order to combine off-line nominal optimal control with on-line adaptation. A direct predictive adaptive algorithm is used in a 2DOF version to cope also with tracking problems. The algorithm is derived by solving a suitably rece