Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC | Zendy

Taro Takagi | Zendy; Ikuro Mizumoto | Zendy; Junpei Tsunematsu | Zendy

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Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC

Author(s) -

Taro Takagi,

Ikuro Mizumoto,

Junpei Tsunematsu

Publication year - 2015

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2015.p0461

Subject(s) - control theory (sociology) , feed forward , computer science , block (permutation group theory) , control system , control (management) , process (computing) , output feedback , adaptive control , block diagram , control engineering , mathematics , engineering , artificial intelligence , geometry , electrical engineering , operating system

Block diagram of proposed control An adaptive control system is configured simply by output feedback when the controlled system is almost strictly positive real (ASPR). ASPR conditions are, however, very severe restrictions for actual systems. The parallel feedforward compensator (PFC), which is designed for making augmented controlled system ASPR, has been proposed to solve this problem. We propose a performance-driven adaptive output feedback control system with a PFC designed via direct design. Our proposed adaptive control system is to be used for systems whose properties change during operation. Our PFC’s direct design uses the system’s input/output data and readjusts output feedback gain based on a performance index. The effectiveness of the proposed method is confirmed through experiments using liquid level control for the two-tank process system.

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