Robust and simple adaptive control systems
- 1 June 1992
- journal article
- Published by Taylor & Francis in International Journal of Control
- Vol. 55 (6) , 1453-1470
- https://doi.org/10.1080/00207179208934294
Abstract
This paper deals with two problems for the improvement of the control performance of simple adaptive control (SAC) techniques. First, it is discussed that the introduction of a robust adaptive control term much robustifies the SAC system concerning plant uncertainties such as state dependent disturbance. Second, a practical procedure is described for designing the parallel feedforward compensator, which is necessary for the actual realization of the SAC system, given prior information concerning the plant such that: (1) the plant is minimum phase; (2) an upper bound on the relative degree exists; and (3) approximate values of high and low frequency gains are known. The effectiveness of the proposed methods is confirmed through the simulation of typical examples of adaptive control systems.Keywords
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