SELF-TUNING FORCE CONTROL OF A FLEXIBLE STRUCTURE

摘要

This paper presents the practical application of self-tuning pole-placement control to a single-actuator driven structural test rig. The controller synthesis employs a closed-loop pole-placement strategy. System identification based on recursive maximum likelihood estimation copes with the time-varying parameters and uncertainties within the system. Simulation and real-time implementation show that the system tracks a set-point load pattern whilst rejecting any noise or disturbances.