Closed Loop Output Error Structure
In this structure the plant B/A is controlled by an RST Controller . The closed loop output error is the difference between the output of the real closed loop system (controller + real plant) and the output of the closed loop predictor (controller + adjustable model plant).
u(t) : plant input
y(t): plant output
w(t): non-modeled output disturbance independent from r(t)
r(t): excitation signal
û(t): input of the adjustable plant model
ybar(t): output of the predictor
e(t): prediction error
For this structure three different algorithms can be considered: CLOE , FCLOE and AFCLOE .
In this structure the noise model is not identified. An ARMAX model for the plant is considered in Extended Closed Loop Output Error Structure .
See: Closed loop identification module .
(file clstruc.htm)