The implementation of a direct adaptive control algorithm using parallel processing techniques is discussed. The controller presented is hybrid in nature (continuous time feedback and discrete time gain adjustment) and recursive least squares identification is implemented using a well-known algorithm based on the Givens rotation. The main feature of the proposed scheme is the fact that it is designed for implementation on systolic arrays (for parameter identification) and switched-capacitor technology (to implement the compensator with adjustable parameters). Adaptive identification can be performed by two identical systolic arrays which triangularize appropriate matrices by use of orthogonal operations.
展开▼
