ADAPTIVE DIRECT DATA DRIVEN DESIGN FOR TWO DEGREES OF FREEDOM CONTROLLERS

This paper develops an adaptive direct data driven control scheme for one closed loop system with two degrees of freedom controllers, i.e., forward controller and feedback controller simultaneously, and the plant-model perfect matching conditions are satisfied. To apply direct data driven control to designing forward controller and feedback controller without the mathematical model of plant, virtual input and virtual disturbance are constructed to derive one optimization problem, whose decision variables are the unknown controller parameters. Through using the idea of adaptation, one parameter adjustment loop is added as the outer loop in such a way the unknown controller parameters are changed with environment varying, according to our constructed parameter adjustment law. Furthermore, after giving some considerations on the parameterized controllers, Lyapunov's stability theory is also used to derive the parameter adjustment law such that stability can be guaranteed for the whole adaptive system. Finally, two simulation examples confirm our theoretical results.