Stable adaptive control system subject to bounded external disturbances

✍ Scribed by Shao Cheng

• Book ID: 102685065
• Publisher: John Wiley and Sons
• Year: 1991
• Tongue: English
• Weight: 584 KB
• Volume: 5
• Category: Article
• ISSN: 0890-6327
• DOI: 10.1002/acs.4480050205

✦ Synopsis

By means of minimizing a quadratic cost function and employing a modified least squares estimator with a dead zone, a new self-tuning controller is derived. Under simple assumptions the stability of the resulting closed-loop adaptive control system is ensured in the presence of bounded external disturbances even for non-minimum phase systems. The analysis performed also gives the upper bounds of tracking errors and parameter estimates. For the disturbance-free case a modified version of the basic algorithm ensures asymptotic stability, i.e. the output error converges to zero, without any additional assumptions. Simulation results demonstrate the effectiveness of the new controller.