Two methods of hybrid adaptive control applied on nonlinear plant

Abstract

The hybrid adaptive control with a delta External Linear Model is presented in this work. The adaptive approach is based on the choice of the External Linear Model of the originally nonlinear system parameters of which are identified recursively during the control and parameters of the controller are recomputed according to results of this estimation too. Two methods, Pole-placement and LQ approach, are compared with similar results. Advantage of these methods is that they are easily programmable and the result can be affected by tuning parameters in both methods. The polynomial approach with 2DOF control configuration satisfies basic control requirements and moreover, it could suppress overshoots of the output variable. Proposed methods were tested by the simulation on a very complex nonlinear system represented by the continuous stirred tank reactor with cooling in the jacket.