Premium
Lyapunov‐based backward‐horizon adaptive stabilization
Author(s) -
Venugopal Ravinder,
Rao Venkatesh G.,
Bernstein Dennis S.
Publication year - 2003
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.733
Subject(s) - convergence (economics) , control theory (sociology) , lyapunov function , constant (computer programming) , adaptive control , computer science , horizon , mathematical optimization , lyapunov redesign , control (management) , mathematics , economics , artificial intelligence , nonlinear system , physics , geometry , quantum mechanics , programming language , economic growth
In this paper we develop a discrete‐time adaptive stabilization algorithm based on a one‐step backward‐horizon cost criterion. By optimizing the cost with respect to the update step size, we obtain a gain update law that guarantees convergence of the plant states. The convergence proof is based on a modified Lyapunov technique. We extend the algorithm to include integral control for rejecting constant disturbances and we present an experimental application to DC motor positioning system. Copyright © 2003 John Wiley & Sons, Ltd.
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom