제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
- /
- Pages.181-184
- /
- 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)
- 발행 : 1996.10.01
초록
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.
키워드