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Robust pole placement indirect adaptive control
Author(s) -
Giri F.,
M'Saad M.,
Dugard L.,
Dion J. M.
Publication year - 1988
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/acs.4480020103
Subject(s) - control theory (sociology) , robustness (evolution) , controllability , bounded function , adaptive control , impulse (physics) , robust control , dead zone , full state feedback , computer science , engineering , mathematics , control system , control (management) , artificial intelligence , physics , mathematical analysis , biochemistry , chemistry , oceanography , quantum mechanics , geology , electrical engineering , gene
The problem of designing a robustly stable pole placement indirect adaptive controller in the presence of output disturbances and unmodelled dynamics is addressed. The key features of such a design are the following. (1) The unknown parameters are estimated by a normalized least‐squares algorithm with a dead zone to provide the stability robustness with respect to bounded disturbances and ‘small’ unmodelled dynamics. (2) The estimated model controllability is ensured by modifying the control law over a finite time. The modification involved consists of adding an internal impulse excitation and ‘freezing’ the controller parameters.