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Two scale high gain adaptive control
Author(s) -
Polderman Jan Willem,
Mareels Iven
Publication year - 2004
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.802
Subject(s) - robustness (evolution) , control theory (sociology) , bounded function , closed loop , computer science , complex plane , adaptive control , robust control , mathematics , control engineering , engineering , control system , control (management) , artificial intelligence , mathematical analysis , biochemistry , chemistry , electrical engineering , gene
Simple adaptive controllers based on high gain output feedback suffer a lack of robustness with respect to bounded disturbances. Existing modifications achieve boundedness of all solutions but introduce solutions that, even in the absence of disturbances, do not achieve regulation. In this paper a new modification that achieves the desired robustness without the side‐effect of undesirable solutions is proposed. The modification features two data‐driven stability indicators. Intuitively, the first indicator drives the ‘closed‐loop poles’ to the closed right half plane while the latter provides fine‐tuning that prevents persistent imaginary axis poles and their associated undesired behaviour. Copyright © 2004 John Wiley & Sons, Ltd.