매개변수 추정 방법 개선에 의한 적응 제어 시스템의 견실성 향상

A robustness enhancement of adaptive control system by improvement of parameter estimation method.

An adaptive control algorithm for a plant with unmodelled dynamics is proposed. The upper bounds of the output due to the unmodelled dynamics and measurement noise is assumed to be known. Linear programming is used in estimating the bounds of plant parameters. Projection type algorithm is used in estimating the plant parameter with these bounds. This algorithm is nearly the same as those proposed by Kreisselmeier or Middleton except that the bounds are computed by linear programming. The stability of the proposed algorithm Can be proved in nearly the same way as that of Middleton. Simulation results show that the proposed algorithm gives better parameter convergence and smaller overshoot in the plant output than the algorithm without computing the bounds of plant parameters by linear programming.