Real-time dual control with indirect adaptive pole-placement

A new dual version of an indirect adaptive pole-placement controller (APPC) is designed and applied to the speed control of thyristor-driven direct-current (DC) motor. The suggested synthesis approach is based on a bicriteria optimization of two cost functions introduced for furnishing the APPC with properties of caution and stimulating the estimation. The derived controller is computationally simple, and the standard APPC based on the certainty equivalence (CE) assumption can easily be modified in its dual version by generating the cautious part of the control signal and then adding up the stimulating part. The experimental application and comparison described demonstrate the superiority of the designed controller over the standard APPC based on the CE approach.