Automatic initialization of adaptive control using a priori data

It is useful for the system engineer to initialize the tuning parameters of the adaptive control automatically. The adaptation gain and the width of the dead zone are the tuning parameters of the estimation law using the dead zone, and the control law also has additional tuning parameters. In this paper, we propose a new automatic initialization method of an adaptive control with a few tuning parameters that are determined by input and output data measured a priori. The width of dead zone in the estimation law is changed at each iteration depending on the input signal by the function determined by a priori input and output signals. The control law used here is an H^∞-suboptimal one referring to complementary sensitivity function against unstructured uncertainty. Furthermore, we apply the proposed method to the electro-hydraulic servo system and verify the effects by an experiment.