Supervision of adaptive control algorithms

An adaptive controller needs supervisoryfunctions in order to function well in an industrial environment.This paper describes these needs, and provides examplesof supervisory functions that presently are used in industrialadaptive controllers. These supervisory functions ensure thatadaptation only is performed when proper excitation is available.Supervisory functions that prohibit adaptation during the firstphase of a load disturbance response, during signal saturationand oscillations caused by nonlinearities are also proposed.