HYBRID SELF-TUNING CONTROL.

Abstract

Hybrid self-tuning controllers are introduced which combine two sample rates to give discrete-time and continuous-time features. The limiting properties of such algorithms, as the sample rate increases, are shown to correspond to a continuous-time control law. Undersirable intersample behavior associated with the discrete-time control of continuous systems with high pole-zero excess is thus avoided. The results are illustrated by the control of a triple integrator.