TY - GEN
T1 - On the controller effect in closed-loop identification for DC servomechanisms under PD control
AU - Miranda, R.
AU - Garrido, R.
AU - Ortiz-Moctezuma, M. B.
PY - 2011
Y1 - 2011
N2 - This paper adresses the effect that a controller has on the parameter estimates for a closed-loop identification methodology with a DC servomechanism. Closed-loop identification is performed with a direct method, where a PD controller, which stabilizes the system without knowledge about its parameters, closes the loop. It is shown that when the perturbation signal is absent, exponential convergence can be claimed, making the identification algorithm robust. However, when there exists a perturbation signal it can be established a region where the parameter estimates belong to, and it is shown how this region is affected by the PD controller gains.
AB - This paper adresses the effect that a controller has on the parameter estimates for a closed-loop identification methodology with a DC servomechanism. Closed-loop identification is performed with a direct method, where a PD controller, which stabilizes the system without knowledge about its parameters, closes the loop. It is shown that when the perturbation signal is absent, exponential convergence can be claimed, making the identification algorithm robust. However, when there exists a perturbation signal it can be established a region where the parameter estimates belong to, and it is shown how this region is affected by the PD controller gains.
UR - http://www.scopus.com/inward/record.url?scp=84871676964&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980265
DO - 10.1109/ICRA.2011.5980265
M3 - Contribución a la conferencia
AN - SCOPUS:84871676964
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5716
EP - 5721
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -