A Study on the Robust Direct Adaptive Controller Design in the presence of Unmodelled Dynamics and Disturbances

비모형화 특성과 외란을 고려한 강인한 직접 적응제어기 설계에 관한 연구

This paper presents a continuous-time robust direct adaptive algorithm in the presence of bounded disturbances and / or unmodeled dynamics. In the new algorithm, Narendra's adaptation law is adapted. And a term, proportional to the product of tracking error and normalizing signal, is added to the conventional control law. It is shown that the performance of the adaptive schemes is improved if a proportional adaptation tera is added to the control law. The scalar case is only discussed in the stability analysis. Computer simulation is presented to complement the theoretical result.