Title :
Nonlinear adaptive controller with integral action
Author :
Nikiforov, V.O. ; Voronov, K.V.
Author_Institution :
Dept. of Control & Inf. Syst., St. Petersburg State Inst. of Fine Mech. & Opt., Russia
fDate :
12/1/2001 12:00:00 AM
Abstract :
This note reveals a new significant property of the adaptive controller design technique proposed by Krstic, Kanellakopoulos and Kokotovic (1994). Namely, it is shown that with the use of special plant model parametrization the standard backstepping design results in an adaptive controller with integral action. The latter means that the controller completely rejects constant input disturbances. It is shown that the revealed property can be extended to nonlinear and nonadaptive cases
Keywords :
adaptive control; control system synthesis; nonlinear control systems; adaptive controller design technique; backstepping design; integral action; nonlinear adaptive controller; Adaptive control; Australia; Automatic control; Linear algebra; Multidimensional systems; Programmable control; Reduced order systems; Sufficient conditions; Symmetric matrices; Upper bound;
Journal_Title :
Automatic Control, IEEE Transactions on
