Self-tuning time optimal control of servosystems by using a reference model and a sensitivity model

A structure of a self-tuning time optimal control system which achieves a good and fast adaptation by using a reference model and a sensitivity model is described. A procedure of determining the time optimal control algorithm parameters by using the reference model and the sensitivity model is elaborated. A way of including unmodelled dynamics is proposed. Simulation results indicate that the proposed structure provides very good adaptation to variations of system parameters within only two to three stepwise changes of the referent input.