A Study on the Structure and Adaptive Methods for Robust Adaptive Control and its Simulation

견실한 적응제어를 위한 구조 및 적응 방법에 관한 인구와 시뮬레이션

A sufficent condition for the robust control of the adaptive control system is presented under the convergence of the parameters of the adaptive system. The plant in the adaptive control system is a stable system which includes the unmodelled dynamics and can be approximated by a minimum phase system. It is shown that modified structure which Kosut and Friedlander suggested satisfies the sufficient condition more easily than the original structure without modification. It is also shown by computer simulation that the modified structure and/ or the adaptation method using the normalized input and output data or filtered input and output data can improve the robustness of the adaptive control system.