Continuous- time and discrete multivariable 2DOF controllers

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 ident...

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Bibliographic Details
Main Authors: Kubalčík, Marek, Bobál, Vladimír
Format: Article in Journal/Newspaper
Language:English
Published: North Atlantic University Union (NAUN) 2015
Subjects:
Adaptive control
Control algorithms
Multivariable control
Pole assignment
Polynomial methods
Recursive identification
North Atlantic
Online Access:http://publikace.k.utb.cz/handle/10563/1005755
Description
Summary: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.

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