Multiple models adaptive feedforward decoupling controller using HDBD focus

In a multivariable system, when multiple parameters jump simultaneously, a multiple models adaptive feedforward decoupling controller using hierarchical Dimension-By-Dimension technology is presented to solve the problems such as too many models, long computing time and so on. To find the optimal parameter, it adopts one-dimension search in series instead of multiple-dimension search in parallel. During the one-dimension series search, a hierarchical structure is utilized to reduce the number of the models furthermore. According to the switching index the best model is chosen. At last the global convergence is obtained. In the simulation example, when compared with the conventional multiple models adaptive controller, it reduces the number of the fixed models greatly.