Singularity-free adaptive pole-placement without resorting to persistency of excitation: Detailed analysis for first order systems
✍ Scribed by Rogelio Lozano
- Publisher
- Elsevier Science
- Year
- 1992
- Tongue
- English
- Weight
- 489 KB
- Volume
- 28
- Category
- Article
- ISSN
- 0005-1098
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✦ Synopsis
This paper presents a novel approach to avoid singularities in adaptive pole-placement control algorithms. The control scheme is applicable to either minimum or nonminimum phase plants and the closed-loop stability is guaranteed in spite of bounded disturbances. The algorithm uses a Least Squares identification algorithm with a particular dead zone that allows the definition of modified estimate that retain the convergence properties of the original estimates. Explicit modification to the parameters estimates is given that secures well-conditioned matrices in the adaptive control law. Detailed analysis is given for one-pole one-zero systems.