Experimental study of a dual-rate autotuned pole-placement controller

Abstract

A dual-rate approach to auto-tuning of pole-placement controller allows the use of a large sampling interval for parameter estimation and control during autotuning, and a small sampling interval for normal control. The main merit of the dual-rate autotuned control system is in the simultaneous achievement of robust estimation and reduced computation load during tuning, and improved performance in the regulation of deterministic and stochastic load disturbances. This algorithm has been implemented on an universal controller card based on an Intel 8096 microcontroller. The dual-rate autotuned pole-placement microprocessor-based controller has been applied to a pilot plant consisting of a resonant aerodynamic object. The experimental results show that the proposed controller performs very well.