Abstract
Iterative combination of identification in closed loop and robust control redesign leads to a two time scale adaptive control system very appealing in practice. The chapter is dedicated to the presentation of recursive algorithms for plant identification in closed-loop operation and their application. Two classes of algorithms will be presented, analyzed and evaluated experimentally: closed-loop output error algorithms and filtered open-loop recursive identification algorithms. Specific techniques for model validation in the context of identification in closed loop will also be presented. The performance of the various algorithms will be illustrated by simulation and by their application to the identification in closed loop and controller re-design of a flexible transmission control system.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
- 1.
By duality arguments these algorithms can be used for estimation of reduced order controllers—see Landau et al. (2001b).
- 2.
Routines corresponding to these algorithms in MATLAB® can be downloaded from the web sites: http://www.landau-adaptivecontrol.org and http://landau-bookic.lag.ensieg.inpg.fr.
References
Adaptech (1988) WimPim + (includes, WinPIM, WinREG and WinTRAC) system identification and control software. User’s manual. 4, rue du Tour de l’Eau, 38400 St. Martin-d’Hères, France
Åström KJ (1993) Matching criteria for control and identification. In: Proc European control conference, Groningen, The Netherlands
Karimi A, Landau ID (1998) Comparison of the closed loop identification methods in terms of the bias distribution. Syst Control Lett 34(4):159–167
Landau ID, Karimi A (1997a) An output error recursive algorithm for unbiased identification in closed loop. Automatica 33(5):933–938
Landau ID, Karimi A (1997b) Recursive algorithms for identification in closed loop: a unified approach and evaluation. Automatica 33(8):1499–1523
Landau ID, Karimi A (1999) A recursive algorithm for ARMAX model identification in closed loop. IEEE Trans Autom Control 44(4):840–843
Landau ID, Karimi A (2002) A unified approach to model estimation and controller reduction (duality and coherence). Eur J Control 8(6):561–572
Landau ID, Zito G (2005) Digital control systems—design, identification and implementation. Springer, London
Landau ID, Karimi A, Constantinescu A (2001b) Direct controller order reduction by identification in closed loop. Automatica 37(11):1689–1702
Langer J, Landau ID (1996) Improvement of robust digital control by identification in closed loop: application to a 360° flexible arm. Control Eng Pract 4(8):1079–1088
Robbins H, Monro S (1951) A stochastic approximation method. Ann Math Stat 22:400–407
Van den Hof P, Schrama R (1995) Identification and control—closed-loop issues. Automatica 31(12):1751–1770
Voda-Besançon A, Landau ID (1995a) An iterative method for the auto-calibration of the digital controllers. In: Proc ACC 95, Rome, Italy, pp 12,463–12,468
Voda-Besançon A, Landau ID (1995b) The joint closed-loop identification and control design—theoretical issues and applications. In: Proc ACC, Seattle, USA
Zang Z, Bitmead RR, Gevers M (1995) Iterative weighted least-squares identification and weighted LQG control design. Automatica 31(11):1577–1594
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2011 Springer-Verlag London Limited
About this chapter
Cite this chapter
Landau, I.D., Lozano, R., M’Saad, M., Karimi, A. (2011). Recursive Plant Model Identification in Closed Loop. In: Adaptive Control. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-0-85729-664-1_9
Download citation
DOI: https://doi.org/10.1007/978-0-85729-664-1_9
Publisher Name: Springer, London
Print ISBN: 978-0-85729-663-4
Online ISBN: 978-0-85729-664-1
eBook Packages: EngineeringEngineering (R0)