Joint Design of Two-Degree-Of-Freedom Controller and Closed Loop Identification Based on Prediction Error Method

Abstract

In this paper, we give a new method of joint design of control and closed loop identification. Here we adopt the two-degree-of-freedom control system structure in order to obtain both good command response and satisfactory disturbance rejection property. Based on the prediction error method and appropriate choice of the identification objective, we show how to choose an weighting function for identification, which reflects the control objective and is suitable for two-degree-of-freedom control systems. In addition, we show a numerical example to demonstrate the effectiveness of the proposed method.