A Design Method of Self-Tuning Pole-Assignment Controllers with a Parallel Feedforward Compensator

• Published in: Transactions of the Institute of Systems, Control and Information Engineers Vol. 10; no. 7; pp. 351 - 360
• Main Authors: OKI, Toshitaka, YAMAMOTO, Toru, KANEDA, Masahiro
• Format: Journal Article
• Language: Japanese
• Published: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE) 15.07.1997
• Subjects: feedforward compensator; minimum variance control; pole assignment control; process control; self-tuning control
• ISSN: 1342-5668; 2185-811X
• DOI: 10.5687/iscie.10.351

Many adaptive control schemes have been proposed for the systems whose parameters and time delays are unknown. Especially, from the simplicity of the control structure, self-tuning control (STC) schemes have been widely studied. In this paper, a STC scheme based on the minimum variance control (MVC) method is proposed for the nonminimum phase and/or unknown time delay systems, considering an augmented system equipped with a feedforward compensator on a parallel to the system. Since the poles of the closed-loop system constructed by the proposed method can be assigned arbitrarily, the good performance can be obtained relatively easily. Moreover, it is shown that the closed-loop system can be interpreted as a system constructed by the generalized minimum variance control (GMVC) method, or as a system equipped with a local feedback compensator like a Smith predictor. Finally, a numerical example and an example applied to an experimental plant are shown to illustrate the effectiveness of the proposed method.