On a novel Hybrid LQ-MCS control strategy and its application to a DC motor

This paper is concerned with the investigation of a novel hybrid LQ-adaptive strategy based on the so called minimal control synthesis algorithm (MCS). A model reference MCS adaptive control scheme is implemented where the reference model is controlled via an LQ regulator. An additional supervisory control action updates on-line the reference model and the gains of the LQ control, switching between a control and an identification phase. The resulting hybrid LQ-MCS algorithm is validated on a representative case study.