Ri. Milford et Sf. Asokanthan, EXPERIMENTAL ONLINE FREQUENCY-DOMAIN IDENTIFICATION AND ADAPTIVE-CONTROL OF A FLEXIBLE SLEWING BEAM, Journal of dynamic systems, measurement, and control, 118(1), 1996, pp. 58-65
This paper presents experimental results for the real-time adaptive id
entification and control of a flexible, slewing beam. A frequency doma
in identification algorithm incorporating non-parametric transfer func
tion estimation and least squares parametric estimation is used to rec
onstruct an accurate parametric model of the system, capable of accura
tely tracking changing plant dynamics in real rime. This model is subs
equently used to produce an LQG compensator which actively damps beam
vibration caused by rapid slewing manoeuvres with large payload change
s. Nonpersistent excitation is addressed in the content of identificat
ion during nominal motion. It is shown that after a short duration lea
rning period, the proposed identification scheme will yield a model wh
ich is sufficiently accurate for controller synthesis.