Adaptive Control of a Nonlinear MIMO Process Using the Delta Model Parameter Estimation


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Abstract


The paper deals with continous-time adaptive control of a MIMO nonlinear process. A nonlinear model of the process is approximated by a continuous-time external linear model. Its parameters are estimated via an external delta model with the same structure as the CT model. The control system configuration with two feedback controllers is considered. For controllers design, the polynomial approach is used. Resulting controllers ensure asymptotic tracking of step references and step load disturbances attenuation. A control quality is achieved using the exact pole placement method as well as by selectable weight matrices dividing weights among numerators of transfer functions of subcontrollers. The control is tested on a two input – two output nonlinear process.
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Keywords


Adaptive Control; MIMO System; Continuous-Time Model; Delta Model; Parameter Estimation; Polynomial Method

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