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    Ast 77

    Uploaded by

    Kumaraguru Rau
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    © All Rights Reserved
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    Awomatica,Vol13.pp.457-476. Pergamon Press, 1977. Printed in Great Britain Theory and Applications of Self-Tuning Regulators* K. J. ASTROM.* U, BORISSON.t L. LIUNGS and B. WITTENMARK+ The theory of self-tuning regulators is reviewed. The performance of the self-tuning regulatorsisillustrated by simulated examples and by applications on industrial processes. Key, Word Index—Aduptive control; parameter estimation; process control: slFadjusting systems; stochastic contol, ‘Summary —This paper reviews work on self-tuning regulators The regulator algorhns, ther theory and industrial applic cations are reviewed. The paper is expesitory—the major Hews are covered but detailed analysis given elsewhere 1. INTRODUCTION STOCHASTIC control theory has proved to be a useful tool for the design of controllers for industrial processes[1]J. In many practical applications itis, however, dificult to determine the parameters of the controller, since the dynamics of the process and its disturbances are unknown. The parameters of the process thus have to be estimated. For stationary processes itis possible to determine the unknown parameters through identification, The experiments and their evaluations can, however, be rather time consuming, It is thus desirable to have a regulator which tunes its parameters on-line. The motivation {or the work reviewed here has been to design such regulators for control of industrial processes, The class of regulators can be thought of as composed of three parts: a parameter estimator, a linear controller and a block which determines the controller parameters from the estimated para- ‘meters, Within this structure there ate, of course, many different possibilities, depending on the control and estimation schemes used. The approach isinno doubta very straightforward one. [tincludes, ‘Received 30 September 1976; revised 7 March 1977, An cviginal version ofthis paper was presented at the 6h TPAC Congress on onto Technolog the Sersceof Mean which was held in Boston/Cambridge, MA. doring August 1975. The published Proceedings of this IFAC Meeting may be ordered fom: Instrument Society of America (ISA), 400 Stanek Steet, Pittsbatgh, PA 15202. USA. or John Wiley. Balins Lane. Chichester, Sussex, PO 19 IUD, U.K. This paper ws recon ‘mended for publication in revised form by assaciate editor H, Kwakernaale “Department of Automatic Control Technology. Lund, Sweden. {Granges Data, Nyby Brak, Sweden. §Department of Electtical Enginecting, Linkoping Univesity, Linkoping Sweden, Lund Institute of €8, application of the ‘certainty equivalence prin- 0. This value a* gives the minimum variance controller when inserted in (3.13). Further analysis, shows that the stability condition (3.7) is satisfied if O

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