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ROBUST model-reference adaptive-control ALGORITHM FOR A CLASS OF PLANTS WITH BOUNDED INPUT DISTURBANCES

ELECTRONICS LETTERS 1990年第15期26卷 1220-1221页

作者： TSO, SK SHUM, HY Dept. of Electr. & Electr. & Electron. Eng. Hong Kong Univ. Kowloon Hong Kong

The effective application of the variable structure approach to model reference adaptive control using only input and output measurements is investigated. The controller, which is robust with respect to a class of bounded-input-disturbance plants with a relative degree of one, ensures convergence of the tracking error always to zero. It is not necessary to assume persistency of excitation.

关键词： bounded input disturbances convergence convergence model reference adaptive control model reference adaptive control systems robustness tracking error variable structure approach variable structure systems

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model reference adaptive control for Non-Minimum Phase System by Periodic Feedback

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IFAC Proceedings Volumes 1991年第1期24卷 399-404页

作者： Y. Miyasato The Institute of Statistical Mathematics 4-6-7 Minami-Azabu Minato-ku Tokyo Japan 106

In most of the studies of model reference adaptive control (MRAC), the controlled systems are confined to minimum phase systems, since the MRAC techniques utilize the control laws involving cancellations of zeros of the systems. In this paper, we propose a design method of model reference adaptive control systems for non-minimum phase systems. The poles and zeros of the controlled systems are relocated by the periodic feedback control laws with multirate sampling, and no cancellation of zeros occurs in our method. It is shown that even if the unstable zeros exist, the output error converges to zero asymptotically, while the control input remains uniformly bounded. Some simulation results for the non-minimum phase system, also show the effectiveness of the proposed method.

关键词： adaptive control model reference adaptive control non-minimum phase system periodic feedback multirate sampling

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A new model reference adaptive control structure for uncertain switched systems with unmodeled input dynamics

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2015年第10期37卷 1171-1180页

作者： Sinafar, Behzad Ghiasi, Amir Rikhtehgar Fazli, Atousa Karimi Sharif Univ Technol Dept Elect Engn Tehran *** Iran Univ Tabriz Fac Elect & Comp Engn Tabriz Iran Sharif Univ Technol Sch Sci & Engn Kish Isl Iran

In this paper, a new model reference adaptive controller (MRAC) for uncertain switched linear systems is developed. A class of uncertain switched linear systems with parametric mismatched and input matched uncertainties, control input effectiveness and unmodeled dynamics is studied in this paper. The difference in input matrix for different switching modes which means the input channel degradation is investigated through this paper. By using common Lyapunov function method and developing new linear matrix inequality based sufficient conditions, uniform ultimate boundedness of the reference tracking error is guaranteed by switched MRAC and by using a novel nonlinear controller term, the size of the uniform ultimate bounded region can be made arbitrarily small which could enhance the performance of the overall control structure. Modified versions of MRAC systems using low-frequency learning adaptation MRAC is also used for better transient performance at switching instants. An illustrative numerical example demonstrates the performance of the proposed approach. Results also show that for the cases without parametric uncertainty in the linear part, asymptotic stability of the reference tracking error is guaranteed.

关键词： Uncertain switched systems model reference adaptive control linear matrix inequality modified structure adaptive control

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RAPPROCHEMENT BETWEEN CONTINUOUS AND DISCRETE model-reference adaptive-control

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AUTOMATICA 1986年第2期22卷 199-207页

作者： GOODWIN, GC LEAL, RL MAYNE, DQ MIDDLETON, RH UNIV LONDON IMPERIAL COLL SCI & TECHNOL DEPT ELECT ENGNLONDON SW7 2BTENGLAND CTR INVEST & ESTUDIOS AVANZADOS DEPT INGN ELECTMEXICO CITYDFMEXICO

In the literature to date there is a dichotomy between results on continuous- and discrete-time model reference control. This is highlighted in the case of continuous-time systems having relative degree greater than one. It is known that, for rapid sampling, these systems always give rise to a non-stably invertible discrete-time system and thus discrete model reference control is ruled out. On the other hand, there are many results pertaining to continuous-time model reference control of such systems. This apparent paradox can be resolved by a slight modification to the discrete-time model format as shown later. This alternative model is used to develop a new discrete model reference adaptive control law and a convergence analysis for the algorithm is presented.

关键词： adaptive control computer control difference equations digital control discrete-time system robustness model reference adaptive control sampled data system self-tuning regulators

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Two-Degree-of-Freedom based model reference adaptive control of Non-minimum Phase System

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IETE JOURNAL OF RESEARCH 2023年第7期69卷 4337-4348页

作者： Pal, M. Sarkar, G. Barai, R. K. Roy, T. Jadavpur Univ Dept Elect Engn Kolkata WB India MCKV Inst Engn Dept Elect Engn Liluah Howrah India

This paper presents the design of the Two-Degree-of-Freedom (2DOF) based model reference adaptive control (MRAC) as a tracking control system for the Non-minimum Phase (NMP) system. Perfect set point tracking is possible by using a cascade-connected inverse and non-inverse transfer function model of the dynamic system. But this method is restricted to the minimum phase system only, whereas, NMP system produces unbounded output response using this inverse model technique. Though, adaptive inverse feed-forward control technique is an effective tracking control system, it also requires an inverse model of the system. To overcome this problem, a novel feed-forward MRAC scheme for the inverse NMP model and the State feedback controller of the non-inverse model has been proposed, and both the controller are decoupled in a 2DOF framework. The feed-forward control technique guaranteed the tracking performance using the Lyapunov stability theory, and the feedback counterpart enhances the steady-state performance of the NMP plant. The robustness of the asymptotic stability as well as tracking performance of the closed-loop NMP system has been ensured by the proposed 2DOF control based MRAC technique. The effectiveness of the proposed control structure initially has been verified by the MATLAB Simulink toolbox and, then the demand has been strengthened by the implementation of the same control logic in the real-time environment using analog simulation with Op-amp based hardware model.

关键词： Analog model reference adaptive control non-minimum phase Op-amp state feedback Two-Degree-of-Freedom

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Variable structure model reference adaptive control with integration

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INTERNATIONAL JOURNAL OF adaptive control AND SIGNAL PROCESSING 1996年第4-5期10卷 489-497页

作者： Feng, G School of Electrical Engineering University of New South Wales Sydney N.S.W. 2052 Australia

A new variable structure model reference adaptive control scheme with integration is proposed to achieve robustness to modelling uncertainties in this paper. A key feature of this scheme is that the knowledge of neither the parameters of the upper bounding function on the modelling uncertainties nor the upper bound on the norm of the matching controller parameters is required. Other advantages of the scheme are its excellent transient performance and asymptotic zero output tracking error. Simulation results demonstrated that the chattering of the scheme is effectively compensated by incorporation of an integrator.

关键词： model reference adaptive control robustness stability variable structure systems

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ON MODIFYING model-reference adaptive-control SCHEMES FOR PERFORMANCE IMPROVEMENT

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IEEE TRANSACTIONS ON AUTOMATIC control 1994年第9期39卷 1977-1980页

作者： DATTA, A HO, MT Department of Electrical Engineering Texas A and M University College Station TX USA

The idea of improving the transient behavior in model reference adaptive control by using the estimation error to modify the underlying controller structure has recently attracted some attention in the literature. In this note, we show that the modifications proposed so far can in fact all be derived as a linear feedback from the tracking error. Consequently, the improved performance obtained with such a scheme is solely due to a nonadaptive high gain feedback.

关键词： feedback model reference adaptive control systems MRAC linear feedback model reference adaptive control scheme modification nonadaptive high gain feedback performance improvement tracking error transient behavior linear feedback model reference adaptive control performance boost Feedback follow error Transient performance adaptive control

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Direct model reference adaptive control with Actuator Failures and Sensor Bias

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JOURNAL OF GUIDANCE control AND DYNAMICS 2014年第1期37卷 312-U14页

作者： Joshi, Suresh M. Patre, Parag NASA Langley Res Ctr Hampton VA 23681 USA Siemens Corp Corp Technol Princeton NJ 08540 USA

Actuator and sensor faults have been implicated in several aircraft loss-of-control accidents and incidents. Direct model reference adaptive control (MRAC) methods have been suggested as a promising approach for maintaining stability and controllability in the presence of uncertainties and actuator failures without requiring explicit fault detection, identification, and controller reconfiguration (e.g., [1,2]). (An extensive amount of literature is available on adaptive control in the presence of actuator failures, but could not be listed in this brief Note due to space limitations; however, a detailed reference list is available in [2]). In addition to actuator faults, sensor faults may also compromise safety [3-5]. A common type of sensor fault is unknown sensor bias, which can develop during operation in one or more sensors, such as rate gyros, accelerometers, altimeter, etc. If used directly in an MRAC law, such offsets in sensor measurements can have detrimental effects on closed-loop stability, which can no longer be theoretically guaranteed. Accommodation of sensor faults in an MRAC setting has been addressed (e.g., [6-8]). However, adaptive control of systems with simultaneous actuator and sensor faults has not been adequately addressed. Toward that goal, MRAC control laws using state feedback for state tracking were developed in [9] for the case with simultaneous sensor bias and actuator failures, and signal boundedness as well as bounded or asymptotic tracking were obtained. This Note elaborates on the results of [9] and presents numerical examples to illustrate the methods.

关键词： Sensors model reference adaptive control Actuators control Surfaces True Airspeed Elevator Deflection adaptive control Systems Aircraft Flight control Gaussian White Noise Feedback control

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model reference adaptive control for Multivariable Continuous Systems

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IFAC Proceedings Volumes 1982年第4期15卷 463-468页

作者： Y. Nishikawa N. Sannomiya H. Itakura H.W. Yang Department of Electrical Engineering Kyoto University Kyoto 606 Japan

This paper discusses a model reference adaptive control for a multi-input multi-output continuous system in matrix fraction description. The controller is of Monopoli-Narendra type with a time-varying gain matrix in the parameter adaptation law. The transfer matrix of the given plant with an adjustable controller is made to approach to that of the reference model asymptotically. It is shown that, under some plausible assumptions such as on the knowledge of an interactor matrix, the algorithm for a single-input single-output system can be appropriately extended to a multi-input multi-output system. The convergence of an adaptation law is proved with some stability theory and the stability of the overall system is asserted by an analytical investigation.

关键词： adaptive control multivariable control systems linear systems model reference adaptive control

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ON THE TRANSIENT-BEHAVIOR IN DISCRETE-TIME model-reference adaptive-control - ANALYSIS AND POSSIBLE IMPROVEMENT

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AUTOMATICA 1994年第3期30卷 527-531页

作者： DATTA, A [&dagger ]The author is with the Department of Electrical Engineering Texas A & M University College Station TX 77843-3128 U.S.A.

This paper shows that a result recently obtained for arbitrarily improving the zero-state transient performance of a continuous-time model reference adaptive control scheme, does not have a counterpart in discrete-time. Using standard l(1) optimal control theory, it is shown that unlike the continuous-time case, it is not possible to modify the control law to obtain arbitrarily small l(infinity) gain for the closed-loop function from the parameter mismatch to the error. Nevertheless, the control law may be modified to minimize this gain, perhaps resulting in improved error transients.

关键词： model reference adaptive control DISCRETE-TIME SYSTEMS DISTURBANCE REJECTION TRANSIENT BEHAVIOR L(1) THEORY

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