Hybrid state-space self-tuning control using dual-rate sampling
Leang San Shieh, Xiao Min Zhao, John W. Sunkel · IEE Proceedings D Control Theory and Applications · 1991
This paper presents a hybrid state-space self-tuning control scheme using dual-rate sampling for suboptimal digital adaptive control of linear time-invariant continuous-time multi-variable stochastic systems with unknown parameters. An equivalent fast-rate discrete-time state-space innovation model (with estimated states) of the continuous-time system is constructed by using the estimated system parameters and Kalman gain. To utilise the existing optimal regional-pole assignment method developed in the continuous-time domain, the constructed fast-rate discrete-time model is converted into an equivalent continuous-time model for the development of a state-feedback optimal control law with pole placement in a specific region. The developed analogue optimal control law is then converted into an equivalent pseudo-slow-rate digital control law via the proposed digital redesign technique, which can be realised via slow-rate digital electronics. The proposed method enables the development of a digitally implementable advanced control algorithm for digital adaptive control of continuous-time multivariable stochastic systems which may be unstable and/or have nonminimum phase.