Title :
Two-degree-of-freedom control with adaptive inverse model
Author :
Muramatsu, E. ; Watanabe, K.
Author_Institution :
Yamagata Univ., Japan
Abstract :
Feedback error learning has an architecture of two-degree-of-freedom control in which the feedforward controller is tuned to be the inverse model of the plant. Recently, Miyamura and Kimura have established a control theoretical validity of the FEL method in the framework of adaptive control and proved its stability based on the strictly positive realness. In this paper, we propose a design method for the two-degree-of-freedom control system, which does not require any positive real conditions. The plant is described by a transfer function which does not have proper inverse.
Keywords :
adaptive control; control system synthesis; controllers; feedback; feedforward; learning (artificial intelligence); stability; transfer functions; adaptive control; adaptive inverse model; control theoretical validity; feedback error learning; feedforward controller; transfer function; two-degree-of-freedom control;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7