Abstract
A least squares control algorithm for single-input single-output (SISO) systems is developed. The algorithm allows for a delay with large dead time and uses proportional- integral-derivative actions in their parallel form to achieve steady-state without error. Optimization of the controller parameters is achieved and the parameters of the controller are determined from the solution of a set of linear simultaneous equations. The control strategy is to optimize the controller parameters such that a desired well-behaved trajectory is obtained. The controller is shown to be robust and the algorithm is shown to function as well without or with large dead time, to have low sensitivity to changes in the dead time, and to allow an adaptive estimation of changing system parameters. The application of the developed algorithm to control the glucoregulatory system, based on a 4th-order digital model, is presented in two cases: free time delay and with large dead time.
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