Abstract
This paper considers a collection of recently developed controller designs methodsbased on successive iterations of plant model identification and controller design based on that model. The unifying ingredient of these schemes is their reliance on the possibility of performing closed loop experiments on the actual plant with the sequence of controllers, and their recognition of the power of jointly coupling the two stages of the design in a synergistic manner. These methods represent logical extensions of previous non-data-dependent robustness ideas and adaptive approaches. We shall consider here the key ideas linking a number of currently proposed techniques to draw out the nub of the underlying concepts.
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