Title :
Adaptive Output Feedback Control Design for Exponentially Passive Systems with a PFC and Its Application to a Magnetic Levitation System
Author :
Mizumoto, Ikuro ; Ohishi, Shinya ; Iwai, Zenta
Author_Institution :
Kumamoto Univ., Kumamoto
Abstract :
This paper deals with a design problem of an adaptive output feedback tracking control for systems with a parallel feedforward compensator (PFC) introduced in order to realize the output feedback exponential passive (OFEP) augmented control system. It is well known that one can easily design an adaptive output feedback control system for nonlinear systems satisfying the OFEP conditions. We adopt introduceing a PFC to make a non-OFEP nonlinear system OFEP and propose an adaptive control system design scheme which improves the control performance of the practical control system without the PFC. The effectiveness of the proposed method will be confirmed through experiments of a magnetic levitation system.
Keywords :
adaptive control; compensation; control systems; feedback; feedforward; magnetic levitation; mechanical control equipment; nonlinear systems; adaptive output feedback tracking control system; augmented control system; exponentially passive system; magnetic levitation system; nonlinear system; output feedback exponential passive system; parallel feedforward compensator; Adaptive control; Backstepping; Control design; Control systems; Intelligent systems; Magnetic levitation; Nonlinear control systems; Nonlinear systems; Output feedback; Programmable control;
Conference_Titel :
Innovative Computing, Information and Control, 2007. ICICIC '07. Second International Conference on
Conference_Location :
Kumamoto
Print_ISBN :
0-7695-2882-1
DOI :
10.1109/ICICIC.2007.115
