No Process Zeros Canceled Load disturbances Controller Process What happens wit h dist urbances? Can we underst and w hat happens? . How to modify th system Simulation Compare Exampel 3.5 Explain what happe What happens to estimator y Process model Act ual process f t he co nt rol u(t)+r1(t-1)=t y(t)-s1y(t-1) No integral act io n what the adapt Parameters do not settl No steady stat C K. J. Ast ro m and B. WittenmarkNo Process Zeros Canceled 0 20 40 60 80 100 −1 0 1 0 20 40 60 80 100 −4 −2 0 2 Time Time uc y u 0 100 200 300 400 500 −2 −1 0 0 100 200 300 400 500 0.0 0.1 0.2 Time Time ^a2 ^a1 ^ b1 ^ b0 Load Disturbances Controller u Process y B A uc Ru = Tuc − Sy v Σ  What happens with disturbances?  Can we understand what happens?  How to modify the system Simulation Compare Exampel 3.5 0 20 40 60 80 100 −1 0 1 0 20 40 60 80 100 −4 −2 0 2 Time Time uc y u 0 20 40 60 80 100 −2 −1 0 0 20 40 60 80 100 0.0 0.1 0.2 Time Time a^2 a^1 ^ b1 ^ b0 Explain what happens  What happens to estimator? Process model Ay = Bu Actual Process Ay = Bu + Bv  Structure of the control law u(t) + r1u(t ￾ 1) = touc ￾ s0y(t) ￾ s1y(t ￾ 1) No integral action  Notice what the adaptive controller does! { Parameters do not settle { No steady state error if setpoint constant c K. J. Åström and B. Wittenmark 2