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Stable adaptive control system subject to bounded external disturbances
Author(s) -
Cheng Shao
Publication year - 1991
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.4480050205
Subject(s) - control theory (sociology) , bounded function , estimator , controller (irrigation) , mathematics , quadratic equation , tracking error , stability (learning theory) , adaptive control , simple (philosophy) , exponential stability , adaptive estimator , mathematical optimization , computer science , control (management) , nonlinear system , statistics , mathematical analysis , philosophy , physics , geometry , epistemology , quantum mechanics , artificial intelligence , machine learning , agronomy , biology
By means of minimizing a quadratic cost function and employing a modified least squares estimator with a dead zone, a new self‐tuning controller is derived. Under simple assumptions the stability of the resulting closed‐loop adaptive control system is ensured in the presence of bounded external disturbances even for non‐minimum phase systems. The analysis performed also gives the upper bounds of tracking errors and parameter estimates. For the disturbance‐free case a modified version of the basic algorithm ensures asymptotic stability, i.e. the output error converges to zero, without any additional assumptions. Simulation results demonstrate the effectiveness of the new controller.