Abstract
For a class of nonlinear multivariable dual-rate systems with strong couplings and uncertainties, a dual-rate adaptive decoupling controller with nonlinear feedforward compensation is proposed. First, a dual-rate model consisting of a linear model and a nonlinear term is derived by using the polynomial transformation technique. The unknown parameter matrices in the linear model are identified by using a proposed recursive least square algorithm and available dual-rate data, while the unknown nonlinear term is compensated by using the identification error. Based on the dual-rate model, the adaptive decoupling controller is then designed. The stability of the closed-loop system is presented. Finally, experiments are conducted on a dual-tank flow-level cascade control system. The results illustrate the effectiveness of the proposed method.
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