직접 적응 제어기의강인성 및 성능의 개선에 관한연구

A Study on the Improvement of Robustness of a Direct Adaptive Controller

A robust direct adaptive controller with respect to additive and multiplicative unmodeled dynamics is designed. A new term, proportional to the product of the bounded tracking error and normalizing signal, is added to the conventional control input for improvement of robustness and performances of an adaptive system. It is shown by the mathematical analysis and simulation results that the stability of the closed loop system is guaranteed and the performance of the system is improved.