FOPTDFirst-Order Plus Time Delay
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In the adaptive control system, the updated transfer function model (9) is further reduced to a FOPTD model
The model parameters [MATHEMATICAL EXPRESSION NOT REPRODUCIBLE IN ASCII] are updated by fitting the FOPTD model (14) at each sampling time to a simulated step response of the model (9) using the Smith's approximation technique [2].
The updated FOPTD model is directly applied for controller parameters on-line adaptation using controller tuning rules developed for simple dynamic models.