Decentralized Adaptive Suboptimal LQ Control in Microsoft Excel VBA

Abstract

Suboptimal linear quadratic (LQ) control has been popular very much because of its very good results in several tasks of control. It allows us to implement it on many systems even on unstable systems which it stabilizes. Adaptation enlarges the area of the usage especially in the case when standard controllers with fixed parameters gives unsatisfactory results. In this paper, the main attention is dedicated to the usage of the modified instrumental variable technique as the identification part of the self-tuning controllers, and to the implementation in Microsoft Excel. So this approach was verified by simulation in Microsoft Excel Visual Basic for Applications (VBA) on two input two output (TITO) systems.