Title :
Implementation of Adaptive Proximate Time-Optimal Controllers
Author :
Workman, M.L. ; Franklin, G.F.
Author_Institution :
Information Systems Laboratory, Stanford University, Stanford, CA 94305; International Business Machines Corp., E86/142, 5600 Cottle Rd., San Jose, CA.
Abstract :
Following a brief review of the Proximate Time-Optimal Servomechanism (PTOS) and the Adaptive version of PTOS (APTOS), implementation technique will be described which make both algorithms practical for discrete time control of second order plants with real roots. The double integrator plant and the real pole plus an integrator plant are both used as examples. The effects of unmodeled dynamics on the algorithms are discussed and illustrated by simulation and experiment.
Keywords :
Adaptive control; Control systems; Delay; Discrete time systems; Friction; Heuristic algorithms; Information systems; Laboratories; Programmable control; Servomechanisms;
Conference_Titel :
American Control Conference, 1988
Conference_Location :
Atlanta, Ga, USA
