제어로봇시스템학회:학술대회논문집
- 1990.10b
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- Pages.872-877
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- 1990
Robust model reference direct adaptive pole placement control
- Kim, Jong-Hwan (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology)
- Published : 1990.10.01
Abstract
Robustness of a model refernece direct adaptive pole placement control for not necessarily minimum phase systems is studied subject to unmodeled dynamics and bounded disturbances. The adaptive control scheme involves two estimators for the system and the controller parameter estimation, respectively. The robustness is obtaind under some weak assumptions and by using both a normalized least-squares algorithm with dead zone and an appropriate nonlinear feedback.
Keywords