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Varying Load
• Deadbeat Controller of Third Order (DB3) [7]: The proportional gain KP , the integral gain KI , and the
differential gain KD are given by
For Deadbeat control on a third order system with
n = 3 and m = 3, the estimation vector is Θ(k − KP = Kw1 (k), KI = Kw2 (k), KD = Kw3 (k), (30)
1) = [â1 , â2 , â3 , b̂1 , b̂2 , b̂3 ]T , and the regression vector is where K is a positive scale parameter that can be in-
Φ(k) = [−y(k−1), −y(k−2), −y(k−3), u(k−1), u(k− creased/decreased to adjust the responsiveness of the con-
2), u(k − 3)]T . The control law is given by troller. The coefficients wi (k) are given by
u(k) =r0 r(k) − q0 y(k) − q1 y(k − 1)− wi (k)
(22) wi (k) = P3 , (31)
− q2 y(k − 2) − p1 u(k − 1) − p2 u(k − 2), i=1 |wi (k)|
where 0 < η < 1 is the learning rate,
k−1
X αi−k+L+1 (k)(u(k) − u(i))K(x(k), x(i))
∂ ŷ
(k) = ,
∂u σ2
i=k−L
(42)
where L is the size of the sliding window, sample u(i)
is the command signal stored at component n + 1 of the
sliding window vector at instant i, x(i) (44),
− kx(i) − x(j)k2
K(x(i), x(j)) = exp , (43)
σ2
x(k) = [y(k), ..., y(k −n+1), u(k), ..., u(k −m+1)]T , (44)
and
α(k) = U(k)(Y(k) − 1v b(k)), (45)
th
where αi−k+L+1 (k) is the (i − k + L + 1) element of
vector α(k),
Figure 1: Ziegler-Nichols method: algorithm to determine the
ultimate proportional gain KPu and the ultimate period of oscil- 1Tv U(k)Y(k)
b(k) = , (46)
lations Tu . 1Tv U(k)1v
where 1v = [1, . . . , 1]L×1 , Y(k) = [y(k), . . . , y(k − L +
and are obtained through normalization of the weight co- 1)]T ,
efficients
−1
∂y(k) A(k) H
wi (k) = wi (k − 1) + ηi Ke(k)xi (k − 1)sgn , (32) U(k) = , (47)
∂i∗ (k) HT h
where ηi is the learning rate of the weight coefficient H = [K(x(k − L), x(k − 1)), · · · ,
wi (k), and sgn(·) is a signal function. The current ref- K(x(k − L), x(k − L + 1))]T , (48)
erence of the single neuron i∗ (k) is given by
3
X where h = K(x(k − L), x(k − L)) + C −1 , and A(k) is
i∗ (k) = i∗ (k − 1) + K w̄i (k)xi (k). (33) given by (54). C is a positive regularization factor, and if
i=1 its value is low, then the outlier points are deemphasized.
and ∂y(k)/∂i (k) = (y(k)−y(k−1))/(i∗ (k)−i∗ (k−1)).
∗
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