Adaptive inverse control of two-axis hydraulic shaking table based on RLS filter

An adaptive inverse controller in the out loop, which are applied as an outer control loop around the inner control loop of the two-axis angle shaking table, are presented to provide increased control accuracy, stability and reproducibility in applications where inner-control-loop methods prove to be inadequate. Two kinds of adaptive algorithms LMS (Least-mean-square) and RLS (recursive-least-square) are illustrated. Simulation results show that the RLS algorithm, which is finally adopted in control system, exhibits fast convergence compared with LMS. Test results obtained in acceleration tracking experiment show the effectiveness of the adaptive inverse controller based on RLS algorithm.