PID 구조를 기초로 한 비최소 위상 시스템의 직접적응제어

Direct Adaptive Control of Nonminimum Phase Systgems based on PID Structures

This paper presents direct adaptive controllers for single-input single-output nonminimum phase systems based on PID structures. Also, characteristics of these schemes are compared, and convergence properties are considered. In these schemes, controller parameters are estimated from the least-square algorithm and some additional auxiliary parameters are obtained from the proposed polynomial identity which is derived from the pole placement equation and the Bezout identity. The effectiveness of these schemes is demonstrated by computer simulation that has been carried out for a very difficult example.