A Robust Self-Tuning Controller With Identified Deadzone and Reduced Models

A practical robust self-tuning control algorithm is put forward. The algorithm counteracts the action of unmodeled dynamics, guarantees the bounded imput/output (BIBO) stability, and eliminates the tracking error. Moreover, a recursive way to identify the deadzone is adapted in the algorithm, which is much better than selecting deadzone based on experience. The simulation results show that the algorithm is of effectiveness. MoreBack