Continuous- time and discrete multivariable 2DOF controllers

Abstract

The paper presents a design and implementation of a 2DOF (two degree of freedom) multivariable controller. The controller was designed in both discrete and continuous-time versions. The control algorithm is based on polynomial theory and pole – placement. The controller integrates an on – line identification of an ARX model of a controlled system and a control synthesis on the basis of the identified parameters. The model parameters are recursively estimated using the recursive least squares method. In case of the continuous-time control loop derivatives of the input and output variables of the continuous – time systems can not be directly measured. Therefore differential filters and filtered variables are established to substitute primary variables. The filtered variables are then used in the recursive identification procedure. © 2015, North Atlantic University Union. All rights reserved.