A Dual-Rate Self-Tuning Pole-Placement Controller

摘要

A dual-rate self-tuning pole-placement controller I proposed in this paper It allows the use of a larger sampling interval for on-line parameter estimation and a smaller sam- pling interval for control. The conversion of model parameters from one sampling interval to another can be readily performed using a pole-zero mapping technique. The major problem en- countered I that the process zeros at the slow sampling rate cannot be estimated accurately by using input-output data obtained at the fast sampling rate.