The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)
- Volume 37 Issue 5
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- Pages.319-326
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- 1988
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- 0254-4172(pISSN)
Robust Adaptive Pole Assignment Control using Pseudo Plant
의사모형화 방법을 이용한 극배치 적응제어기의 강인성 개선
Abstract
In the presence of unmodeled dynamics, the robustness of adaptive pole assignment control using new pseudo-plant is presented. The pseudo-plant proposed by Donati et al. is modified as the gain of low pass filter can be set from zero to one. This modified pseudo-plant results in the reduction of modeling error. It is shown that not only this approach is insensitive to input frequency but also it improves the conic condition developed by Ortega et al. which is required to assure stability of adaptive control system despite the model-plant mismatch. A simple method to compensate the tracking error due to the use of pseudo-plant is considered.
Keywords