Vlastimir Nikolić, Tamara Nestorović
Discrete Self-Tuning Regulator Design for Some Hydraulic Systems
The paper considers self-tuning regulator design and its application to some hydraulic
systems. Self-tuning regulator design procedure based on pole placement was considered
first. Regulator design was treated in case of known and unknown parameters. In case
of unknown parameters recursive least-square algorithm was used for parameter
estimation. Certainty equivalence principle was also applied in order to keep the
R-S-T regulator structure obtained in case of known parameters, but with parameter
estimates used instead of their real values. Self-tuning regulator design procedure
was applied to hydraulic control systems. First the level system described by
second order model was considered and then hydraulic positioning system of the
fourth order. In both cases explicit pole placement method was applied. Obtained
control laws were verified by simulation results which showed good tracking
properties.
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