A Study on the Robustness of a Direct Adaptive Pole-placement Controller

직접 적응 극배치 제어기의 강인성에 관한 연구

This paper deals with the robustness of a direct adaptive pole-placement control algorithm for continuous time plants with unmodeled dynamics. In this paper, least squares method is used for controller parameter adaptation and covariance matrix update equation is modified by normalizing signal to guarantee the boundedness of all signals in the closed loop system. In the proposed algorithm, no a priori knowledge is required and it is shown that persistence of excitation condition is required to ensure the stability of the closed loop system.