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Robust scheme of an indirect MRACS system taking into account the presence of deterministic disturbances
Author(s) -
Suzuki Yoshiaki,
Suzuki Takashi,
Itamiya Keietsu
Publication year - 2004
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.10190
Subject(s) - control theory (sociology) , robustness (evolution) , adaptive control , lemma (botany) , dead zone , norm (philosophy) , computer science , mathematics , control (management) , law , artificial intelligence , oceanography , poaceae , biology , political science , gene , geology , ecology , biochemistry , chemistry
This paper presents a method for the design of an indirect model reference adaptive control (MRAC) system for a plant with deterministic disturbances, robust to modeling errors due to unmodeled dynamics and observation noise. In the proposed method, the structure of the controller is determined on the basis of the internal model principle to reject the deterministic disturbance, and its parameters are adjusted by using the estimated plant parameters. Robustness to the modeling errors is ensured by the use of the adaptive law with a dead zone and a fixed compensator of integral type. The adaptive law prevents the adjustable parameters from drifting and the fixed compensator improves the control performance degraded by the use of the dead zone. Stability of the MRAC system is analyzed using the concept of the ℒ 2δ norm and the Bellman–Gronwall lemma, based on the properties guaranteed by the adaptive law. Effectiveness of the proposed method is demonstrated by the simulation carried out for a plant with second‐order nominal part and a step disturbance. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 146(4): 65–75, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10190