A multi-rate adaptive FIR controller for performance enhancement of a fixed controller

Abstract

A direct adaptive control scheme for rapidly sampled continuous time plant is presented. The scheme tunes an augmentation Q to enhance the performance of a fixed robust controller designed based on some prior knowledge of the plant. Working in a different coordinate basis from that of the shift operator, Q can be approximated by a power series with a finite number of terms. This gives rise to a more robust parameter estimation algorithm. A dual rate version of the algorithm is also proposed.