제어로봇시스템학회:학술대회논문집
- 1988.10a
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- Pages.236-241
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- 1988
Offset elimination in adaptive control
적응제어에서의 오프셋 영향 제거
Abstract
This note considers the class of controllers with integral action which arise directly from appropriate system models. Via internal model principle approach, a corresponding class of self-tuning controller is shown to have both integral action in controller and offset removal in the tuning algorithm. The key idea is to constrain the estimator in each step in order to ensure that dc gain of feedforward and feedback polynomial of adaptive controller are always equal, thus allowing the loop integrator to work properly.
Keywords