Abstract
It is shown that, by Incorporating on-line recursive identifiers to provide updated steady-state impulse-response matrices for inclusion in digital proportional-plus-derivative control laws, highly effective adaptive digital set-point tracking controllers can be readily designed for marginally stable type-one multivariable plants. The effectiveness of such an adaptive controller is illustrated by designing an adaptive digital set-point tracking controller for a ‘difficult’ type-one multivariable plant.
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