| 摘要 |
An adaptive parallel 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 parallel 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, which provides a measure of an output and a rate of change of the output as feedback for the controller.
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