Premium
Robustness of VS‐MRAC with respect to unmodelled dynamics and external disturbances
Author(s) -
Costa Ramon R.,
Hsu Liu
Publication year - 1992
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.4480060103
Subject(s) - control theory (sociology) , robustness (evolution) , parasitic extraction , lyapunov function , singular perturbation , stability theory , adaptive control , mathematics , perturbation (astronomy) , computer science , engineering , physics , nonlinear system , mathematical analysis , control (management) , electronic engineering , biochemistry , chemistry , quantum mechanics , artificial intelligence , gene
A variable structure model reference adaptive controller (VS‐MRAC) using only input and output measurements was recently proposed and shown to be globally asymptotically stable with superior transient behaviour and disturbance rejection properties. In this paper a singular perturbation approach is used in order to establish the robustness of the controller in the presence of unmodelled dynamics (parasitics) and disturbances. We develop a new Lyapunov‐based technique to analyse the overall system and show that for sufficiently small parasitics the system remains stable and the output error is small in some sense.