Dual-rate approach to autotuning of pole-placement controller

Abstract

A dual-rate approach to the auto-tuning of a pole-placement controller is proposed in this paper. It allows the use of a large sampling interval for on-line parameter estimation and control during auto-tuning and a small sampling interval for normal control. The major problem encountered is the conversion of model parameters from one sampling interval to another. This can be solved by a pole-zero mapping technique. The main merit of the dual-rate auto-tuned 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. Its performance is substantiated by digital simulation and experiments on a pilot plant.