Decentralized adaptive continuous-time control of coupled drives apparatus

Abstract

A new, simple solution of decentralized adaptive continuous-time control based on a modified tuning method is presented in this paper. The process is identified by the regression (ARX) continuous-time model using the recursive least squares method (RLSM) with applied restricted directional forgetting. The method proposed has been verified by simulation in Matlab and on the CE108 Coupled Drives Apparatus using the Real Time toolbox in real time conditions. Control of the nonlinear system CE108 was performed using the suboptimal LQ tracking method applied on the external linear model (ELM). Copyright (C) 2001 IFAC.