Direct Adaptive Control of Nonminimum Phase Systems Using Novel Estimation Algorithm

새로운 추정 알고리즘을 이용한 비최소 위상 시스템의 직접 적응 제어

This paper proposes a novel direct adaptive pole placement control algorithm which can be applied to continuous time nonminimum phase systems. The algorithm is based on Lyapunov's direct method. By introducing an auxiliary signal, a minimal error model is constructed in state space. Using the error model an estimation law is obtained via Lyapunov's second stability theorem. The global stability of the overall system is established.