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Journal of Electrical and Computer Engineering - Volume 2017 2017, Article ID 8653136, 13 pages -

Research Article

Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering Lab–STA, National School of Engineering of Sfax, University of Sfax, BP 1173, 3038 Sfax, Tunisia

CReSTIC, IUT de Troyes, 9 Rue de Québec, BP 396, 10026 Troyes Cedex, France

Correspondence should be addressed to Nabiha Touijer

Received 24 July 2016; Revised 3 January 2017; Accepted 1 February 2017; Published 8 March 2017

Academic Editor: James Lam

Copyright © 2017 Nabiha Touijer et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper deals with the self-tuning control problem of linear systems described by autoregressive exogenous ARX mathematical models in the presence of unmodelled dynamics. An explicit scheme of control is described, which we use a recursive algorithm on the basis of the robustness σ-modification approach to estimate the parameters of the system, to solve the problem of regulation tracking of the system. This approach was designed with the assumptions that the norm of the vector of the parameters is well-known. A new quadratic criterion is proposed to develop a modified recursive least squares M-RLS algorithm with σ-modification. The stability condition of the proposed estimation scheme is proved using the concepts of the small gain theorem. The effectiveness and reliability of the proposed M-RLS algorithm are shown by an illustrative simulation example. The effectiveness of the described explicit self-tuning control scheme is demonstrated by simulation results of the cruise control system for a vehicle.

Autor: Nabiha Touijer, Samira Kamoun, Najib Essounbouli, and Abdelaziz Hamzaoui



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