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adaptive control algorithm application approach approximation behaviour biomass closed loop coefficients continuous-time control design control input control law control system design control theory cost function covariance criterion Czechoslovakia defined delta operator described Digital Control discrete discrete-time distribution disturbance dynamics error example factor feedback control feedforward Figure frequency Gawthrop gnostical Grimble I I I I I I I I I identification IFAC implementation Information Theory Institute of Information Kalman filter Karny Kulhavy linear LQG control matrix measured method neural network noise nonlinear obtained operator model optimal control parallel control parameter estimation performance Peterka PID control plant model Prague prediction prefilters Proc procedure quadratic quadratic form reduce reference robot robust control sampling interval sampling period self-tuning control simulation solution spline SRIV stability stochastic structure synthesis systolic array transfer function transputer tuning uncertainty variable vector weighting zero