Controller Identification Based on Filtered Closed Loop Output Error Method
This method has been developed in order to identify the model of a controller operating in closed loop with a known plant model based on filtered closed loop output error algorithm(see: controller identification scheme). It is similar to the controller identification based on closed loop output error method, except the fact that a filtered regressor vector is used. It means that the regressor vector f(t) is replaced by ff(t) in the parameter adaptation algorithm.
ff(t) = A/P0 f(t)
where A is the denominator of the plant model (which is supposed to be known) and P0 is an initial estimation of the closed loop characteristic polynomial:
P0 = A(q-1)S0(q-1)+B(q-1)R0(q-1)
S0(q-1) and R0(q-1) are the denominator and numerator, respectively, of the initial model of the controller and B(q-1) is the numerator of the plant model.
See: Controller order reduction module .
(file conidf.htm)