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MAR: A multiprocessor adaptive regulator
Author(s) -
Bonivento Claudio,
Melchiorri Claudio
Publication year - 1989
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480030403
Subject(s) - controller (irrigation) , software , computer science , state (computer science) , control engineering , embedded system , computer hardware , engineering , operating system , algorithm , agronomy , biology
The present state of the multiprocessor adaptive regulator (MAR) project, a prototype controller developed at the University of Bologna, is presented. The controller is designed in a distributed environment, based on the following components: a VME bus hardware, MC68000 CPU boards and DRM, a distributed real‐time operating system. The project is carried out in the framework of a research programme between DEIS and Philips Italia, I&E Division. MAR represents a significant evolution of previous experiences at DEIS in the implementation of self‐tuning regulators, developed both on 8‐bit and 16‐bit monoprocessor configurations. The prototype software is supported by the concept of a‘software machine’(SOMA) running on a‘hardware machine’(HAMA) typical of the DRM system. Particular attention is given to the definition of a user‐friendly interface and to the development of supervisory features in order to obtain well‐conditioned and robust performances. These features mainly deal with controller start‐up, parameter estimator wind‐up and actuator wind‐up. Two adaptive control policies are presently available, i.e. pole‐zero placement and minimum variance control. Experiments snowing the implemented functions and results obtained from different SOMA distributions are presented and discussed.