Showing papers by "Richard H. Middleton published in 1987"
TL;DR: This paper shows how the precompensator can be designed adaptively using input-output measurements and shows that the adaptive scheme will converge provided the system is persistently excited and a suitable model structure is used in the estimation.
Abstract: For many industrial processes, it is of interest to design a decoupling precompensator. The precompensator makes it possible to design controllers based on single-input-single-output models of the process. A model of the process must be known to design the precompensator. This paper shows how the precompensator can be designed adaptively using input-output measurements. The precompensator is first designed for the case when the process is known. The adaptive precompensator is then constructed using the certainty equivalence principle. The convergence properties and the implementation of the adaptive decoupler are discussed. It is shown that the adaptive scheme will converge provided the system is persistently excited and that a suitable model structure is used in the estimation.
64 citations
TL;DR: In this paper, it is argued that adaptive control algorithm can have essentially the same robustness properties to unmodelled dynamics as does a fixed robust control law, and the theory is illustrated by two representative situations namely a simple approach to multivariable adaptive control and the use of approximate models for time delay systems.
10 citations
TL;DR: It is shown how a stability result for slowly time varying linear systems may be used to give a general proof for a broad class of indirect adaptive control algorithms.
10 citations
7 citations
TL;DR: In this paper, a more thorough investigation of the nature of these sufficient conditions for one particular class of robust adaptive control algorithms, namely those employing a relative deadzone, is presented, and it is shown that the robustness properties in the adaptive case are of the same order of magnitude as can be achieved by a non-adaptive controller if the model is known.
6 citations