Review of hybrid and continuous-time self-tuning controllers and analysis of an LQ design

A review of various explicit self-tuning control schemes is presented and both the parameter estimation and control law are discussed. A hybrid indirect, linear quadratic (LQ), self-tuning control of a continuous-time linear plant is investigated. In this paper, the `hybrid´ algorithm implements the parameter estimation and controller parameter adjustment on a discrete-time basis and the control loop operates in continuous-time. Comparisons are given of continuous-time, hybrid and discrete-time LQ self-tuning controllers for the simulation of a DC motor position controlled servo-system