Abstract
Model Algorithmic Control (MAC) is a relatively new design methodology successfully used by industries for the last several years. The objective of this paper is to investigate robustness properties of MAC, and evaluate the use of adaptive methods for real-time identification of the plant under closed-loop control. Some theoretical robustness properties of MAC are given in terms of classical qualities such as gain margin and phase margin for a wide class of systems. Although MAC is an output-feedback controller, it has a guaranteed continuous-time equivalent phase margin of 60°, and the upward gain margin can be made arbitrarily large by slowing down the reference trajectory. Some robustness properties of MAC are also given by a perturbation analysis of a miss-modeled plant impulse response. Preliminary results are discussed for on-line identification of the closed-loop plant using the canonical variate method. Performance of the identification of the plant in the presence of both input and measurement noise is given.
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