ADAPTIVE CONTROL OF A TITO PROCESS BY TWO FEEDBACK CONTROLLERS

DOSTÁL, P.; GAZDOŠ, F.; BOBÁL, V.

Abstract

The paper deals with continous-time adaptive control of a two input-two output nonlinear process. A nonlinear model of the process is approximated by a continuous-time external linear model. The parameters of the CT external linear model are recursively estimated via an external delta model with the same structure as the CT model. The control system configuration with two feedback controllers is considered. Design of controllers is based on operations in the ring of polynomial matrices. Resulting proper 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 nonlinear system represented by a model of two spheric liquid tanks in series.

Coresponding author e-mail: dostalp[at]ft[dot]utb[dot]cz

Session: Robust and Adaptive Control