Controller adaptability and two-level algorithms for adjustment of adaptive control system parameters

Concepts are introduced of complete and partial adaptability of the main loop of the adaptive control system which, contains a linear continuous nonstationary dynamic plant and an adaptive PID controller. The necessary and sufficient conditions are obtained for complete adaptability of the controller in terms of adaptability matrix properties which are analyzed. Algorithms of static adaptation of the PID controller are designed on the knowledge of identified plant or main closed loop parameter.