T2: Parameter Adaptive Control Algorithms - A Tutorial

Abstract

An introduction is given on adaptive (selftuning) control algorithms with recursive parameter estimation, which have obtained increasing attention in recent years. These algorithms result from combinations of recursive parameter estimation algorithms and easy to design control algorithms. A short review is given first on proper recursive parameter estimation methods, including their application in closed loop. This is followed by the design equations for dead-beat and minimum variance control algorithms. Various combinations can be designed with different properties of the resulting adaptive control algorithms, for both, deterministic and stochastic disturbances. Simulation examples are presented and examples for the adaptive control of an airconditioner and a pH-process are shown.