Adaptive LQG controller tuning

Controller tuning is a basic step in any control application. This tuning is a complex process composed of several steps starting with the plant analysis and ending with the verification of the designed controller. There are various tools that help in particular steps of the design, but the complete path of the design is not supported. An attempt is made to offer a procedure of ´complete´ controller design where all the necessary steps follow automatically one after the other. The idea is applied to the LQG controller design. The whole procedure is described and demonstrated on an example with the emphasis on the tuning of the LQG criterion with respect to the given constraints.