A robust adaptive control design for a class of dynamical systems using corrected models

Author

Khorasani, K.

Author_Institution

Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada

Volume

39

Issue

8

fYear

1994

fDate

8/1/1994 12:00:00 AM

Firstpage

1726

Lastpage

1732

Abstract

A systematic procedure for designing a robust adaptive control strategy for a class of dynamical systems containing n dominant slow modes and m parasitic fast modes is developed. The result is a corrected adaptive control strategy more robust to parasitic dynamics than conventional methods in the literature that are based on the so-called zeroth-order or uncorrected adaptive control laws. The distinct feature of the proposed controller is its dynamic nature. The key requirement for implementing the dynamic controller is the asymptotic stability of the zero dynamics of the first order corrected reduced model. The results are verified by numerical simulations

Keywords

adaptive control; control system synthesis; stability; asymptotic stability; corrected models; dominant slow modes; dynamic controller; dynamical systems; first order corrected reduced model; parasitic dynamics; parasitic fast modes; robust adaptive control design; zero dynamics; Adaptive control; Asymptotic stability; Automatic control; Control systems; Frequency; Numerical simulation; Programmable control; Reduced order systems; Robust control; Robust stability;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.310062

Filename

310062