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Adaptive control in the presence of saturation non‐linearity
Author(s) -
Annaswamy A. M.,
Wong JoEy
Publication year - 1997
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/(sici)1099-1115(199702)11:1<3::aid-acs391>3.0.co;2-t
Subject(s) - control theory (sociology) , saturation (graph theory) , adaptive control , robustness (evolution) , controller (irrigation) , open loop controller , computer science , mathematics , engineering , control engineering , closed loop , control (management) , artificial intelligence , chemistry , combinatorics , biochemistry , biology , agronomy , gene
Saturation non‐linearities are perhaps the most commonly present type of non‐linearities in dynamic systems. It is therefore important for the controller present to function satisfactorily in the presence of input saturation. In this paper we present an adaptive controller which leads to satisfactory performance in the presence of magnitude saturation of the control input. For both continuous time and discrete time plants, the adaptive controller is shown to result in global stability if the plant is open loop stable and minimum phase, and local stability otherwise. Robustness properties of the resulting adaptive controller are established. The performance is verified through experimental results obtained from adaptive control of a precision machine tool axis. © 1997 by John Wiley & Sons, Ltd.