TO TUNE OR NOT TO TUNE - A MONITORING PROCEDURE TO DECIDE

In this paper we address the practical problem of providing a monitoring procedure to decide when to switch on the parameter update law for an adaptive controller operating in closed loop with a stable plant. Specifically, we introduce a sensitivity-based test to know at any given instant if starting adaptation will improve, or otherwise deteriorate, a quadratic performance criterion. Simulation and experimental results with a heat exchanger are presented to illustrate the proposed methodology.