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Next, details on implementation of the controller using a chip with switched capacitors are given.
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The extra degrees-of-freedom brought by self-scheduling controllers with respect to non scheduled ones makes it possible to improve some structural aspects of the designed controller which is able to adapt itself to the flight conditions: reduced gain level to limit actuators sollicitation, or reduced order to simplify the on-board implementation of the controller.
The indicator results supply information on whether the implementation of the controller is moving the process toward a more sustainable operation.
We assume that a given system is designed to be stochastically stable, when disregarding the implementation of the controller on a network.
For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters and nonlinearity.
Further, implementation of the controller requires measurement of output derivatives.
Detailed structure and implementation of the controller are discussed.
Firstly, the full digital implementation of the controller is presented.
Finally, implementation of the controllers with operational amplifiers is discussed.
A major portion of the paper concentrates on experimental implementation of the two controllers using an instrumented Navistar truck.
Comparison to a previously implemented controller provides verification of a successful implementation of the proposed controller.
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