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Enhancing optimal controllers via techniques from robust and adaptive control

✍ Scribed by J. Imae; L. Irlicht; G. Obinata; J. B. Moore


Publisher
John Wiley and Sons
Year
1992
Tongue
English
Weight
832 KB
Volume
6
Category
Article
ISSN
0890-6327

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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