Abstract
Simple self-tuning controllers suitable for microprocessor im-plementation have been developed. Special care has been devoted to numerical stability of the algorithms. The controllers described in the paper are believed to cover a rather broad class of industrial control problems if the sampling period is chosen sufficiently long. The rule of thumb is 5 to 7 samples within the significant part of the system step response. If required, the controllers can be equipped with a self-tuning feedforward and are designed both for regulation and for servo applications, including program control.
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