Abrar Ahmed∗ and Naeem Iqbal∗
Self-tuning regulator, recursive least squares, adaptive control,anti-windup compensator
This paper proposes an application of self-tuning adaptive control in the design of anti-windup controller incorporating the existing controller of the single input-single output linear control systems with strict positive realness. The control-design algorithm is drawn from the Diophantine equation made out of the pole-placement technique used in the indirect method of self-tuning regulators. The detail is focused to re-adjusting the Diophantine equation, by recursively deriving poles from the least squares based model- estimate formulated from the existing controller and dead-zone outputs only at the occurrences of actuator saturation during the whole plant cycle. Thus another saturation-model-estimate is derived besides the usual estimate of plant coefficients. The design was ruggedly tested on the fast moving dc motor speed drive undergoing saturation with varying loads. The inferred results validate the design while ensuring speed stability of the constrained closed-loop drive system.
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