Multirate adaptive optimal control with application to DC motor

The rapid advances in microprocessor and multi-processor technology make it possible to implement the complicated optimal control laws associated with adaptive control. However, for low cost solution such as single processor implementation, there exists the problem that the sophisticated algorithm is impossible to be completed in one sampling period with which the control system is implemented. Multirate control system is thus considered for the solution here. This paper presents the theory and implementation of multirate adaptive optimal control system as a result of combining the concept and theories of multirate system, adaptive control and optimal control. A proof of stability is outlined. A single processor implementation of real time multitasking system is introduced for the implementation of the control system. The real time control system is then studied with a number of simulations and control experiments using DC motor. The results indicate that the control system can be implemented for real world industry applications. © 1997 Elsevier Science Ltd. All rights reserved.