This controller incorpores an algorithm for self-tuning i.e, the controller settings are ajusted automatically.
The next table describes all the parameters available and what means each one of them.
|Enable Sys ID||Activates the option of system identification. The plant is modified continuously by predicting a new one according to a set of parameters. This option must be activated when working in Adaptative – Predictive control.|
|Noise Level||Supposed noise level during System Identification|
|Filtering Constant||Constant value for the filter|
|Initial A & Initial B||Used to establish the initial plants constants for the system identification process|
|Lambda||Parameter that defines the control aggressiveness. High value means less aggressive control, low lambda means more aggressive control|
|Optimal||Select this option to use the Optimal AP algorithm|
|f||Sampling input period|
|r0||Control output period|
|Enable/Disable Driver||Mark this option to use the Driver Block|
|TAU||Time constant for the desired default trajectory|
In addiction, it is possible to display an AP panel in the workspace that allows the user to perform the following actions:
- Initial to Current: to set the initial platform model to the current one.
- Current to Initial: to save the actual model to the initial one.
AP Tool in Workspace