Adaptative-Predictive Control

This controller incorpores an algorithm for self-tuning i.e, the controller settings are ajusted automatically.

Veronte Configuration - Adaptative Predictive controller configuration

PID Mathematical Model - Adaptative Predictive controller configuration

The next table describes all the parameters available and what means each one of them.

Field

Description

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

ro

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

Veronte Configuration - AP Tool in Workspace

PID Mathematical Model - AP Tool in Workspace