Prediction and adaptation in PID controller design

Gives an interpretation of minimum variance adaptive control as high gain proportional feedback combined with output predictions. It is argued that a more general class of systems may be controlled if the feedback gain is reduced, and methods for reducing the gain and analyzing the resulting controllers are described herein. As a special case the authors obtain a new formulation of adaptive PID control. Frequency domain analysis is emphasized in both control design and identification.<<ETX>>