Robust adaptive control based on riccati equation, and its application to DC servomotor

Matsuo and Nakano (1999) proposed a parameter adjustment law that guarantees the stability of the error system that has a positive definite solution for a Riccati equation instead of the strictly positive realness condition, even if the plant has exogenous disturbances. However, the parameter adjustment law has the disadvantage that the transient response of the closed loop system has the large overshoot. In this paper, we try to improve the transient performance by introducing the imaginary axis shifting. Moreover, we apply the adaptive scheme to the position control of DC servomotors