Delta adaptive control -2Dof Structure Control Loop

This paper considers the application of self-tuning digital PID controllers for process control modelled by delta models. The process is identified by the regression (ARX) model using the recursive least squares method (RLSM) with LD decomposition and applied directional forgetting. The basic RLSM algorithm has been modified for the delta model structures. Controller synthesis is designed by method where the required transfer process behaviour of a 2DOF closed control loop can be achieved by selecting our own circular frequency ωnand relative damping ξ in the characteristic equation for connected second-order plants, second controller synthesis is designed by poleplacement method.