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Adaptive Control in Power PMAC


xiaomupeng2009
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It is close to LS with forgetting factor. Essentially, it identifies the hardware gain of the plant (only when there is a net desired accel.)

for a user defined period of time (Motor[x].Servo.EstTime), only considering data points with enough Dac input (Motor[x].Servo.MinDac)

in order to reduce the effect of the noisy input on the accuracy of estimation. You may find the details in the manuals.

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