제어로봇시스템학회:학술대회논문집
- 1996.10a
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- Pages.181-184
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- 1996
Output feedback-based model reference adaptive control for MIMO plants
- Takahashi, Masanori (Department of Mechanical Engineering, Kumamoto University) ;
- Mizumoto, Ikuro (Department of Mechanical Engineering, Kumamoto University) ;
- Iwai, Zenta (Department of Mechanical Engineering, Kumamoto University)
- Published : 1996.10.01
Abstract
This paper deals with the design problem of model reference adaptive controllers for MIMO plants with unknown orders. A design scheme for an adaptive control system based on CGT theorem, which has hierarchical structures derived from backstepping strategies, is proposed for MIMO plants with unknown orders but with known relative MacMillan degrees(relative degrees for SISO plants). It is also shown that all the signals in the resulting control system are bounded, and that the asymptotic tracking is achieved in the case where reference inputs are step.
Keywords
- model reference adaptive control;
- almost strictly positive realnes;
- MIMO plant;
- backstepping;
- command generator tracker;
- parallel inverted pendulum