Robust Parameter Estimation
The true plant model and the estimated plant model have the same structure (the true plant model is described by a discrete time model with known upper bounds for the degrees n A , n B + d).
The disturbances are zero mean and of stochastic nature (with various assumptions).
- 3.For parameter estimation in closed loop operation, the controller
has constant parameters and stabilizes the closed loop.
contains the internal model of the deterministic disturbance for which perfect state disturbance rejection is assured.
The parameters are constant or piece-wise constant.
The domain of possible parameters values is in general not constrained (exception: recursive maximum likelihood and adaptive filtered closed loop output error).
KeywordsClosed Loop Plant Model Dead Zone Unmodelled Dynamic Adaptation Error
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