Digital Self-tuning Controllers: Algorithms, Implementation by Vladimír Bobál, Joseph Böhm, Jaromír Fessl, Jirí Machácek

By Vladimír Bobál, Joseph Böhm, Jaromír Fessl, Jirí Machácek

Adaptive regulate concept has built considerably over the last few years; self-tuning keep watch over represents one department of adaptive regulate that has been effectively utilized in perform. Controller layout calls for wisdom of the plant to be managed which isn't consistently with ease available; self-tuning controllers assemble such info in the course of general operation and regulate controller designs online as required. electronic Self-tuning Controllers offers you with a whole direction in self-tuning keep watch over, starting with a survey of adaptive keep watch over and the formula of adaptive keep an eye on difficulties. Modelling and id are handled earlier than passing directly to algebraic layout tools and specific PID and linear-quadratic types of self-tuning keep an eye on. eventually, laboratory verification and experimentation will assist you flooring your theoretical wisdom in actual plant keep an eye on. positive factors: accomplished insurance delivering every thing a scholar must find out about self-tuning regulate from literature survey to the regulate of an experimental warmth exchanger; a robust emphasis on useful challenge fixing with keep watch over algorithms sincerely specified by easy-to-follow formulae, code listings or made at once to be had as MATLAB® features making the booklet really compatible as an relief to venture paintings; specifically written MATLAB® toolboxes handy for the presentation of ordinary regulate process and plant houses and prepared to be used in direct keep an eye on of actual or simulated crops to be had from; labored examples and educational routines to steer you thru the training technique. electronic Self-tuning Controllers includes a useful direction with which graduate scholars and complicated undergraduates can methods to conquer the numerous difficulties of placing the robust instruments of adaptive keep watch over conception into perform. The textual content can be of a lot curiosity to manage engineers wishing to hire the information of adaptive regulate of their designs and plant.

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Extra resources for Digital Self-tuning Controllers: Algorithms, Implementation and Applications (Advanced Textbooks in Control and Signal Processing)

Example text

The tape tension measurement is done indirectly by the change of angle of the jockey arm ±10◦, which corresponds to the output voltage of ±10 V. The amplifiers of the drive motors are bi-directional and allow control of the motor rotation in both directions. 9. 5. 9. The transfer matrix of the TITO system, which describes the input/output relations, can be written in the form: ⎡ ⎤ Y(z) ⎣ G11 (z) G12 (z) ⎦ = G(z) = U(z) G21 (z) G22 (z) where U(z) is the vector of input variables (voltage inputs to the motors) and Y(z) is the vector of controlled variables (tension and the tape speed).

11) where ΘT (k) = [a1 , a2 , . . , ana , b1 , b2 , . . , bnb , d1 , d2 , . . 12) is the vector of parameters of the model under examination and φT (k − 1) = [−y(k − 1), −y(k − 2), . . , −y (k − na) , u(k − 1), u (k − 2) , . . , u (k − nb) , v(k − 1), v (k − 2) , . . 13) is the data vector, so-called regressor. Note: The quality of the model largely depends on the sampling period and order of the regression model. In modelling and simulation, it is necessary to fulfil the rule that a discrete open-loop must maintain at least one time-delay interval even if the delay is not included in the continuous-time transfer functions.

This means that the new information on the process deduced from ˆ −1) the three data items {u(k), y(k), v(k)} is used to update estimate Θ(k ˆ and the entire procedure is repeated to make a new estimate Θ(k). From experience gained during experimentation we can see that the majority of practical tasks of adaptive control with recursive identification are suited to the given simplified approach. 7. The forced separation of identification and control splits the inner controller structure into parts for identification and control, which are only connected through ˆ the transfer of point parameter estimates Θ(k).

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