An algorithm for joint identification and control

P. Date, A. Lanzon
2002 Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)  
This work proposes a unified algorithm for identification and control. Frequency domain data of the plant is weighted to satisfy the given performance specifications. A model is then identified from this weighted frequency domain data and a controller is synthesised using the H∞ loopshaping design procedure. The cost function used in the identification stage essentially minimises a tight upper bound on the difference between the achieved and the designed performance in the sense of the H∞
more » ... nse of the H∞ loopshaping design paradigm.
doi:10.1109/acc.2002.1025305 fatcat:74urx3d22bauzb72nndns4cl6y