Adaptive dual control of nonlinear liquid system

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IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN: 1474-6670, Vol: 9, Issue: PART 1, Page: 483-488

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Bobál, Vladimír; Chalupa, Petr; Dostál, Petr
Engineering; Autoregressive models; Dual control; Nonlinear systems; Real-time systems; Recursive least squares method; Self-tuning algorithms
conference paper description
The general task of optimal adaptive control with recursive identification (self-tuning control) is very complicated problem. This problem is solved usually by the separation of identification and control - the Certainty Equivalency (CE) Principle. The aim of this paper is to present the solution of this problem using the Dual Adaptive Control (Bicriterial Approach). The main idea of this approach involves two cost functions: (1) the system output should track cautiously the desired reference signal; (2) the control signal should excite the controlled process sufficiently for accelerating the parameter estimates. This approach was verified by a real-time control of nonlinear time varying laboratory model - DTS200 Three Tank System. Copyright © 2007 IFAC.