Title :
A MRAC for multivariable plants with zero residual tracking error
Author :
Tao, G. ; Ioannou, P.A.
Author_Institution :
Dept. of Electr. Eng.-Syst., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
In almost all model-reference adaptive control (MRAC) schemes proposed in the literature the tracking error cannot be guaranteed to go to zero in the presence of plant unmodeled dynamics and/or bounded disturbances. It is shown that when an MRAC scheme is combined with a variable-structure control law, the tracking error goes to zero asymptotically with time in the presence of unmodeled dynamics and bounded disturbances for a class of multi-input, multi-output plants whose modified left interactor matrix is strictly positive real
Keywords :
adaptive control; control system analysis; model reference adaptive control systems; multivariable systems; variable structure systems; MIMO; MRAC; bounded disturbances; dynamics; interactor matrix; model-reference adaptive control; multivariable plants; variable-structure control; zero residual tracking error; Adaptive control; Convergence; Error correction; Polynomials; Robust control; Robustness; Steady-state; Tracking loops; Uncertainty; Variable structure systems;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70417
