The application of self-tuning control

The use of predictive control laws is explored in the nonadaptive context in which the closed loop response, the control input behavior, and the response to load disturbances can be individually tailored by the user. This is contrasted with the usual tuning of PID coefficients based on the subjective evaluation of control performance. The role of adaptation is discussed in terms of its applications, for example for commissioning fixed controllers or for keeping a critical loop tightly tuned. Pitfalls in applying adaptive control are outlined, and alternatives to the approach based on discrete time predictor theory are mentioned.