ADAPTIVE CONTROL SYSTEM AND METHOD THEREOF

The basic state feedback gain is derived and selected by the on-line identification based on the on-line input/output data of a controlled object, and at the same time, the sensitivity of the state feedback gain is directly and sequentially calculated based on the on-line input/output data of the controlled object. The state feedback gain is finely adjusted when the state feedback gain is not optimum. Further, the sensitivity of the state feedback gain of the controlled object is derived by the feedback gain sensitivity calculating unit according to the on-line input/output data of the controlled object. When the sensitivity is determined to be zero based on the criterion by the controller, the state feedback gain is determined to be optimum. When the sensitivity is determined to be near zero, the state feedback gain is finely adjusted by use of the sensitivity. When the sensitivity is determined to be greatly deviated from zero, an initialization instruction is supplied to the on-line identifier to initialize the covariance matrix in the on-line identification. Thus, a satisfactory response speed and precision can be obtained even when the present invention is applied to a controlled object dynamic characteristic of which is significantly changed.