Integrating closed-loop identification and control using control energy sensitivity

This paper extracts a plant model from an identified closed-loop system mod el, and proposes an iterative procedure to rnd high performance controllers . The algorithm uses control energy sensitivity to connect closed-loop mode lling and control design. This sensitivity describes the gradient of the co nsumed control energy with respect to the achieved output covariance. Hence it captures the relative importance of each output channel in the closed-l oop system behaviour. Therefore the identification incorporating control en ergy sensitivity can characterize models to generate a controller for achie ving better closed-loop performance. The procedure is demonstrated in a str uctural control problem.