Frequencial adaptive PID-controller

Algorithm of adaptive PID-controller for plant with unknown coefficients in the presence of unknown-but-bounded disturbance is derived. It makes use of a sufficient small test signal. Adaptation process consists of intervals on which a plant and closed-loop system are identified on the base of finite-frequency identification technique. The plant coefficients estimates are used for controller redesign and the identified characteristic polynomial of closed-loop system is compared with a specified wished characteristic polynomial. If these polynomials approximate then adaptation is ended. The ways of design of admissible test signal are proposed.