An Adaptive Two Degree of Freedom Controller

Abstract

A two-degree of freedom generic optimal controller structure and regulator design method is shown, which can be easily optimized in H2 - and H∞-norm space. It is shown how the regulator and some additional filters - depending on the reference signal, the output disturbance and the invariant process factors - should be selected by the solutions of Diophantine equations if optimality is important. It is proved that the optimal regulator of the generic scheme optimized in H2-norm space is the theoretical regulator providing minimal controller variance to the process and noise model variations. Based on the above special structure an adaptive dual control strategy is shown, designing the optimal filters for the optimal servo and regulatory paradigms of the controller.