This paper presents a new form of the direct adaptive minimal control synthesis (MCS) algorithm. As its name suggests, the error-based minimal control synthesis with integral action (Er-MCSI) algorithm is solely driven by error signals that are generated within the closed-loop system, and contains an explicit integral gain term. The purpose of this new structure is, respectively, to remove the problem of variable adaptive effort with changes in the operating set point, and to remove gain 'wind-up' effects due to plant disturbances and signal offsets. The core of this paper contains a proof of stability for Er-MCSI, based on hyperstability theory, together with supporting simulation and implementation studies.
|Translated title of the contribution||The error-based minimal control synthesis algorithm with integral action|
|Pages (from-to)||187 - 201|
|Number of pages||15|
|Journal||Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering|
|Publication status||Published - May 2003|