Application of augmented UD identification with selective forgetting in an adaptive control loop

Robustness of parameter estimator plays a vital role in adaptive controllers. A modified identification algorithm is proposed based on the augmented UD identification (AUDI) primary version. Augmented UD identification with selective forgetting (AUDSF) method is derived as a robust derivation of AUDI to be integrated with input-output data filtering, relative dead zone, and data normalisation features. AUDSF is incorporated by generalised predictive controller (GPC) strategy to produce an applicable adaptive control method. The comparative performances of the developed approach have been explored on two-mass spring challenging benchmark problem, which demonstrates its excellent behaviour under conducted parameter and disturbance uncertainty scenarios.