| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve the problem that adaptive control normally requires precise process models or the approximation of the models in order to estimate a system parameter. Ž<P>SOLUTION: An adaptive cascade proportional-integral-derivative controller produces a fixed controller output including a fixed proportional-integral-derivative and a fixed feedforward controller command, and an adaptive controller output including an adaptive cascade PID and an adaptive feedforward command all from a reference command. The fixed controller output and the adaptive controller output are added to produce a control command for a controlled system. The controlled system provides a measure of an output and a rate of change of the output as feedback for the controller. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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