Multiple models direct adaptive controller using dimension-by-dimension technology

For a non-minimum phase system, a multiple models direct adaptive controller using Dimension-by-Dimension technology is presented. The multiple models are constituted with controller directly, which lower the calculation and avoid the ill-condition matrix solution. The multiple models are composed of multiple fixed controllers, one free-running adaptive controller and one re-initialized adaptive controller. The fixed controllers are derived utilizing system prior information directly and guaranteed to cover the whole region in which the parameter changes. To solve the problems such as too many models, long computing time and so on, Dimension-By-Dimension technology is proposed. It adopts one-dimension optimization method in series instead of multiple-dimension optimization method in parallel to reduce the number of the controllers greatly. At last the global convergence is obtained. In the simulation example, when compared with the convenient multiple models adaptive controller, if the same number of the fixed models is adopted, system transient response are improved effectively.