This paper presents a new adaptive H optimal control algorithm for multiple–input multiple–output (MIMO) continuous–time linear systems, based on a new nonminimal state space realization (NSSR), using measured inputs and outputs, without differentation. The proposed methodology combines a recursive Kalman filter (RKF) parameter estimation algorithm, and a gradient-type neural network algorithm to approximate the solution to the algebraic Riccati-Matrix equation (ARME), which is essential to design the H optimal control. Actual hardware experiments using a DSP have been carried out in order to verify the applicability and the performance of the proposed integrated modeling–control method for vibration control of a flexible plate system.

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