Direct adaptive command following and disturbance rejection for minimum phase systems with unknown relative degree

✍ Scribed by Jesse B. Hoagg; Dennis S. Bernstein

• Publisher: John Wiley and Sons
• Year: 2007
• Tongue: English
• Weight: 482 KB
• Volume: 21
• Category: Article
• ISSN: 0890-6327
• DOI: 10.1002/acs.945

✦ Synopsis

Abstract

This paper considers parameter‐monotonic direct adaptive command following and disturbance rejection for single‐input single‐output minimum‐phase linear time‐invariant systems with knowledge of the sign of the high‐frequency gain (first non‐zero Markov parameter) and an upper bound on the magnitude of the high‐frequency gain. We assume that the command and disturbance signals are generated by a linear system with known characteristic polynomial. Furthermore, we assume that the command signal is measured, but the disturbance signal is unmeasured. The first part of the paper is devoted to a fixed‐gain analysis of a high‐gain‐stabilizing dynamic compensator for command following and disturbance rejection. The compensator utilizes a Fibonacci series construction to control systems with unknown‐but‐bounded relative degree. We then introduce a parameter‐monotonic adaptive law and guarantee asymptotic command following and disturbance rejection. Copyright © 2006 John Wiley & Sons, Ltd.