Optimal controller properties from closed-loop experiments (Q1129661)

A model-free approach to linear quadratic (LQ) performance assessment is presented. First a test for LQ optimality, based on closed-loop signals, is presented. Its result indicates whether the controller should be adjusted. From the same test it is possible to determine the closed-loop pole positions which would be obtained by using the LQ optimal controller. This may then be used in a direct adaptive control scheme to adjust the controller. Both, state and output feedback are addressed for discrete-time, single-input-single-output linear, time-invariant processes.