A SUITABLE GENERALIZED PREDICTIVE ADAPTIVE CONTROLLER CASE-STUDY - CONTROL OF A FLEXIBLE ARM

This paper presents an adaptive control case study involving a flexibl e arm. The underlying control design consists in a judicious combinati on of the pole placement concept and the generalized predictive contro l design. The former allows one to incorporate a suitable tracking cap ability while the latter is more advisable from practical use point of view. A particular emphasis is put on the fundamental design features of the adaptive controller, namely the tracking capability, the adapt ation alertness and the robustness with respect to reduced order model ling.