GAIN BOUNDS IN THE MINIMAL CONTROLLER SYNTHESIS ALGORITHM

Owing to its high responsiveness to noise disturbances, the minimal co ntroller synthesis (MCS) algorithm can occasionally suffer from the lo ng-term effect of measurement errors, resulting in gain wind-up, close d-loop signal aliasing and hence instability. To counteract this effec t, an algorithm is proposed that extends MCS in such a way as to confi ne the adaptive gain evolutions by using automatically adjusting bound ing 'corridors'. The proof of stability is based upon the original ver sion for MCS, and an implementation study supports the theoretical ass ertions that the modified algorithm prevents gain wind-up without sign ificantly compromising adaptive effort.