Decentralized Adaptive Suboptimal LQ Control in Microsoft Excel VBA

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 505)


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.


Adaptive control Instrumental variable Linear quadratic control Microsoft Excel VBA Self-tuning control Suboptimal control 


  1. 1.
    Dostál, P., Bobál, V.: The suboptimal tracking problem in linear systems. In: Proceedings of the 7th Conference on Control and Automation, pp. 667–673. Haifa, Israel (1999)Google Scholar
  2. 2.
    Perutka, K.: Method of setting penalization constants in suboptimal linear quadratic tracking method. In: Proceedings of the 26th ASR 2001 Seminar on Instruments and Control. Ostrava, Czech Republic (2001)Google Scholar
  3. 3.
    Åström, K.J., Wittenmark, B.: Adaptive Control. Addison-Wesley, MA (1989)Google Scholar
  4. 4.
    Bobál, V., Böhm, J., Prokop, R., Fessl, J.: Practical Aspects of Self-Tuning Controllers: Algorithms and Implementation. VUTIUM Press, Brno University of Technology, Brno (1999)zbMATHGoogle Scholar
  5. 5.
    Al-Ghossini, H., Locment, F., Sechilariu, M., Gagneur, L., Forgez, C.: Adaptive-tuning of extended Kalman filter used for small scale wind generator control. Renew. Energy 85, 1237–1245 (2016)CrossRefGoogle Scholar
  6. 6.
    Zhaoa, B., Lib, Y., Liuc, D.: Self-tuned local feedback gain based decentralized fault tolerant control for a class of large-scale nonlinear systems. Neurocomputing 235, 147–156 (2017)CrossRefGoogle Scholar
  7. 7.
    Vasanthi, D., Pranavamoorthy, B., Pappa, N.: Design of a self-tuning regulator for temperature control of a polymerization reactor. ISA Trans. 51, 22–29 (2012)CrossRefGoogle Scholar
  8. 8.
    Zaky, M.S.: A self-tuning PI controller for the speed control of electrical motor drives. Electr. Power Syst. Res. 119, 293–303 (2015)CrossRefGoogle Scholar
  9. 9.
    Mendes, J., Osório, L., Araújo, R.: Self-tuning PID controllers in pursuit of plug and play capacity. Control Eng. Pract. 69, 73–84 (2017)CrossRefGoogle Scholar
  10. 10.
    Ashida, Y., Wakitani, S., Yamamoto, T.: Design of an implicit self-tuning PID controller based on the generalized output. IFAC PapersOnLine (50-1), pp. 13946–13951 (2018)CrossRefGoogle Scholar
  11. 11.
    Zillettia, M., Elliott, S.J., Gardonio, P.: Self-tuning control systems of decentralised velocity feedback. J. Sound Vib. 329, 2738–2750 (2010)CrossRefGoogle Scholar
  12. 12.
    Bobál, V., Perutka, K., Dostál, P.: Decentralized adaptive continuous-time control of coupled drives apparatus. In: Proceedings of the IFAC Workshop on Adaptation and Learning in Control and Signal Processing, pp. 57–62. Cernobbio-Como, Italy (2001)CrossRefGoogle Scholar
  13. 13.
    Beijen, M.A., Heertjes, M.F., Van Dijk, J., Hakvoort, W.B.J.: Self-tuning MIMO disturbance feedforward control for active hard-mounted vibration isolators. Control Eng. Pract. 72, 90–103 (2018)CrossRefGoogle Scholar
  14. 14.
    Mensler, M.: Analyse et étude comparative de méthodes d´identification des systèmes à representation continue: Dévelopmnet d´une boîte à outils logicielle. CRAN, Nancy, France (1999)Google Scholar
  15. 15.
    Nourdine, A.: Data acquisition and real-time control using spreadsheets: Interfacing Excel with external hardware. ISA Trans. 49, 264–269 (2010)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Tomas Bata University in ZlinZlinCzech Republic

Personalised recommendations