Controller Identification Based on Adaptive 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 adaptive 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 adaptive 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(t-1)f(t)
where A is the denominator of the plant model (which is supposed to be known) and P0(t-1) is an estimation of the closed loop characteristic polynomial based on the parameter estimates upto instant t-1:
P0(t-1)= A(q-1)S(q-1, t-1)+B(q-1)R(q-1, t-1)
S(q-1, t-1) and R(q-1, t-1) are the denominator and numerator, respectively, of the model of the controller based on the parameter estimates upto instant t-1 and B(q-1) is the numerator of the plant model.
See: Controller order reduction module .
(file conidaf.htm)