The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)
- Volume 36 Issue 9
- /
- Pages.670-677
- /
- 1987
- /
- 0254-4172(pISSN)
Robust Adaptive Control for the System with Unmodelled Dynamics
비모형화 특성을 갖는 시스템의 견고성 적응제어
Abstract
The robustness and stability properties for a model reference adaptive control system with plant uncertainty are considered in this paper, using input-output stability theory. An error model for a typical adaptive control structure is extended to unmodelled dynamics in the plant model and then, the strictly positive real condition for global stability is examined. In general, since this condition can be easily violated due to unmodelled dynamics, a modified compensator which can be guaranteed Hev e SPR is introduced in the plant model and the effectiveness for the given structure is also given.
Keywords