The application of a fast self-tuning controller to a hydraulic test rig having a predominant natural frequency of the order of 20 Hz is described. The controller is shown to perform well despite the presence of non-linearities, measurement noise and load disturbances. Time-varying system parameters are rapidly compensated for and only minor transients are introduced by the tuning process. A method for assisting the selection of the parameters required for successful self-tuning controller implementation is also demonstrated.
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S. Daley (1987) studied this question.
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