Lyapunov-based backward-horizon adaptive stabilization

✍ Scribed by Ravinder Venugopal; Venkatesh G. Rao; Dennis S. Bernstein

• Book ID: 101404708
• Publisher: John Wiley and Sons
• Year: 2003
• Tongue: English
• Weight: 214 KB
• Volume: 17
• Category: Article
• ISSN: 0890-6327
• DOI: 10.1002/acs.733

✦ Synopsis

Abstract

In this paper we develop a discrete‐time adaptive stabilization algorithm based on a one‐step backward‐horizon cost criterion. By optimizing the cost with respect to the update step size, we obtain a gain update law that guarantees convergence of the plant states. The convergence proof is based on a modified Lyapunov technique. We extend the algorithm to include integral control for rejecting constant disturbances and we present an experimental application to DC motor positioning system. Copyright © 2003 John Wiley & Sons, Ltd.