Effect of weighting factors in adaptive LQ control

Abstract

An adaptive control is a technique with strong theoretical background and lots of applications to the abstract and real systems. The big advantage can be found in usability of this control method for systems with negative control properties such as nonlinearity, time-delay, non-minimum behavior etc. The adaptive approach here is based on the choice of the external linear model of the originally nonlinear system parameters of which are updated in defined time moments via recursive identification. The control synthesis employs polynomial approach with linear-quadratic approach and spectral factorization. Resulted controller has two weighting factors as tuning parameters. This paper explores the effect these factors to the control. All proposed approaches were tested by simulations on the mathematical model of the continuous stirred-tank reactor as a typical member of the nonlinear lumped-parameters systems. © Springer International Publishing Switzerland 2013.