The minimal control synthesis (MCS) algorithm is an adaptive controller that requires no prior knowledge of plant dynamic parameters, and yet is guaranteed to provide global asymptotic stability of the closed-loop system. The algorithm has been implemented on a variety of plant, ranging from laboratory-based rigs to industrial machines.
The purpose of this technical note is to present the results of the first known implementation of the algorithm on a servo-hydraulically actuated machine. The results of the MCS implementation will be seen to compare very favourably with those of a conventional (P + I) implementation.
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