An approach to digital implementation of continuous backstepping adaptive control for linear systems

✍ Scribed by A. Rabeh; F. Ikhouane; F. Giri

• Publisher: John Wiley and Sons
• Year: 1999
• Tongue: English
• Weight: 158 KB
• Volume: 13
• Category: Article
• ISSN: 0890-6327
• DOI: 10.1002/(sici)1099-1115(199908)13:5<327::aid-acs538>3.0.co;2-x

✦ Synopsis

This paper presents a solution to the problem of digitally implementing backstepping adaptive control for linear systems. The continuous-time system to be controlled is given a discrete-time representation in the -operator. A discrete adaptive backstepping controller is then designed for such a discrete-time model. The e!ect of the modelling error, generated by the sampling process, is accounted for in the parameter update law by a -modi"cation. It is shown that all the signals (discrete and continuous) of the closed loop are uniformly bounded, with a region of attraction which is a K function of the sampling rate. An upper bound on the asymptotic tracking error is then given, and shown to be proportional to the sampling period.