Novel observer/controller identification method-based minimal realisations in block observable/controllable canonical forms and compensation improvement

ABSTRACT

This paper proposes a novel observer/controller identification method for identifying the minimally realised equivalent (reduced-order) mathematical models in the block observer/controller-canonical forms of the unknown (i) open-loop system, (ii) existing feedback/feedforward controllers and/or (iii) observer, based on available measurements of the operating closed-loop system. By skipping the singular value decomposition procedure and without involving the model conversion of the identified model from the general coordinate into the block observer/controller-canonical forms during the identification process, the proposed method is able to directly realise the identified parameters in the minimally realised block observer/controller-canonical forms. This simplifies the system identification process. The new procedures enable us to enhance the computational aspects of designing self-tuning controllers for online adaptive control of (a class of) multivariable systems and to improve the tracking performance considerably. As a result, the newly proposed compensation improvement approach is able to compensate the undesirable operating controller.

KEYWORDS:

• OKID
• OCID
• minimal realisation
• canonical form
• optimal tracker
• system identification

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the Ministry of Science and Technology of R.O.C. [grant number NSC102-2221-E-208-MY3], [grant number MOST104-2221-E-006-159-MY2].