Pipelined hardware design of self tuning controller with on-chip parameter estimator

Abstract

This paper intends to propose a pipelined design of floating point-based self tuning controller STC with on-chip process parameter estimator using recursive least square RLS algorithm used for real time control applications. The parameter estimation algorithm runs continuously to allow the model of the system to be updated at each sample interval as changes occur in the process and the algorithm estimates the unknown process parameters recursively based on the minimisation of the least squares error. The estimated parameters are validated with actual parameters of first and second discrete single input single output SISO linear processes. The proposed pipelined design of STC is analysed with the second order process. The process is controlled by RST controller and its parameters are identified with minimum degree pole placement technique. The design is implemented in very high-speed integrated circuit hardware description language VHDL and is tested using Virtex IV device 4VLX200ff1513. The maximum operating frequency of pipelined design of STC is 146.735 MHz.