On-line fast identification method and exact state observer for adaptive control of continuous system

Paper presents on-line cooperation of two advanced signal processing methods which are used for the best adaptation of LQ controller during stabilization of continuous linear system CLS in which abrupt changes of parameters have occurred. First processing algorithm is connected with special modification of modulating functions method MFM operating in two moving windows for fast identification of step changes in parameters. The second processing algorithm is used for exact state observation by the use of optimal integral observer operating in the third moving window. The modulating functions method with fixed moving convolution window is known for identification of time-invariant system CLTIS. The application of MFM to the problem of identification of step changes in the parameters causes the appearance of fixed time delay in the reconstruction of the new values of parameters after their failure. The aim of this paper is presentation of the concept of two different modifications of MFM which enable fast optimal identification of parameter faults with minimization of time delay as well as general idea for LQ adaptive controller.