Decentralized adaptive continuous-time control of coupled drives apparatus

Bobál, Vladimír; Perůtka, Karel; Dostál, Petr

dc.title	Decentralized adaptive continuous-time control of coupled drives apparatus	en
dc.contributor.author	Bobál, Vladimír
dc.contributor.author	Perůtka, Karel
dc.contributor.author	Dostál, Petr
dc.relation.ispartof	Adaptation and Learning in Control and Signal Processing 2001
dc.identifier.isbn	0-08-043683-8
dc.date.issued	2002
dc.citation.spage	57
dc.citation.epage	62
dc.event.title	IFAC Workshop on Adaptation and Learning in Control and Signal Processing
dc.event.location	Cernobbio Como
utb.event.state-en	Italy
utb.event.state-cs	Itálie
dc.event.sdate	2001-08-29
dc.event.edate	2001-08-31
dc.type	conferenceObject
dc.language.iso	en
dc.publisher	Pergamon Elsevier Science Ltd.	en
dc.subject	adaptive control	en
dc.subject	continuous time systems	en
dc.subject	decentralized control	en
dc.subject	MIMO	en
dc.subject	recursive least squares	en
dc.subject	suboptimal control	en
dc.description.abstract	A new, simple solution of decentralized adaptive continuous-time control based on a modified tuning method is presented in this paper. The process is identified by the regression (ARX) continuous-time model using the recursive least squares method (RLSM) with applied restricted directional forgetting. The method proposed has been verified by simulation in Matlab and on the CE108 Coupled Drives Apparatus using the Real Time toolbox in real time conditions. Control of the nonlinear system CE108 was performed using the suboptimal LQ tracking method applied on the external linear model (ELM). Copyright (C) 2001 IFAC.	en
utb.faculty	Faculty of Technology
dc.identifier.uri	http://hdl.handle.net/10563/1002017
utb.identifier.wok	000179448400009
utb.source	d-wok
dc.date.accessioned	2011-08-09T07:34:31Z
dc.date.available	2011-08-09T07:34:31Z
utb.contributor.internalauthor	Bobál, Vladimír
utb.contributor.internalauthor	Perůtka, Karel
utb.contributor.internalauthor	Dostál, Petr