Implicit and explicit LQG self-tuning controllers (Q801864)

Considered is a system where B/A is the plant transfer function, \(c_ n/c_ d\) is a cascade controller, the signals v, \(\xi\) and \(\omega\) are assumed to be stationary, zero mean sequences of uncorrelated random variables which are jointly independent and have the variances R, \(Q_ 2\) and \(Q_ 3\), respectively. The reference r is stochastic and can also represent an extra perturbation signal which enables closed-loop identifiability conditions to be met. This paper derives explicit and implicit LQG self-tuning control laws and proves that the LQG self-tuners have a number of advantages: (a) The controllers are stable for all values of the control weighting parameters when the plant is known, even when the plant is either open-loop unstable or nonminimum phase. (b) Integral action may easily be introduced by appropriate choice of the cost function. (c) Stochastic reference and disturbance inputs to the system are taken into account in the optimal controller design. (d) The time delay does not enter explicitly into the calculation of the controllers and thus the magnitude of the delay need not be known a priori.