ADAPTIVE TIME OPTIMAL MODEL REFERENCE AND SENSITIVITY BASED CONTROL OF SERVOSYSTEMS

摘要

A structure of a self-tuning time optimal control system which achieves a good and fast adaptation by using a reference model and a sensitivity model is described. A procedure of determination the time optimal control algorithm parameters by using the reference model and the sensitivity model is elaborated. A way of including an unmodelled dynamics and external disturbance is proposed. Simulation results indicate that the proposed structure provides very good adaptation to variations of system parameters within only two to three stepwise changes of the referent input.