Abstract
A new generic optimal controller structure and regulator design method are introduced avoiding the solution of polynomial equations. The model sensitivity properties of some combined identification and control schemes are investigated. It is shown that a new structure is superior to the others. An applicable strategy for iterative control refinement based on the generic scheme is presented and illustrated by simulation examples. A worst-case optimal input design algorithm is also introduced to increase the robustness of the closed-loop control in the relevant medium frequency range by generating a “maximum-variance” reference signal. The adaptive version of the control refinement strategy is also shown with a special “triple-control” extension for recursive optimal input design.
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