Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC
Taro Takagi*, Ikuro Mizumoto**, and Junpei Tsunematsu***
*Department of Control Engineering, National Institute of Technology, Maizuru College
234 Shiroya, Maizuru, Kyoto 625-8511, Japan
**Department of Intelligent Mechanical Systems, Kumamoto University
2-39-1 Kurokami, Kumamoto 860-8555, Japan
***Department of Mechanical System Engineering, Kumamoto University
2-39-1 Kurokami, Kumamoto 860-8511, Japan
Block diagram of proposed controlAn adaptive control system is configured simply by output feedback when the controlled system is almost strictly positive real (ASPR). ASPR conditions are, however, very severe restrictions for actual systems. The parallel feedforward compensator (PFC), which is designed for making augmented controlled system ASPR, has been proposed to solve this problem. We propose a performance-driven adaptive output feedback control system with a PFC designed via direct design. Our proposed adaptive control system is to be used for systems whose properties change during operation. Our PFC’s direct design uses the system’s input/output data and readjusts output feedback gain based on a performance index. The effectiveness of the proposed method is confirmed through experiments using liquid level control for the two-tank process system.
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