Regulator stanu ze zmiennymi parametrami zastosowany w strukturze sterowania układu dwumasowego

In this paper design process of state space controller with on-line adaptation of parameters is presented. The delta rule is implemented for adaptation of gains of the controller. The object is electrical drive with elastic connection between motor and load machine. Reduced number of measurement sensors is assumed. For this purpose the Kalman filter is used. Tests show comparison between classical and proposed, adaptive controller. Improvement of speed control, using described controller, is achieved, especially in presence of parameters changes of the two-mass system.