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Adaptive rejection of unmatched input disturbances for output tracking using a control separation LQ method
Author(s) -
Wen Liyan,
Tao Gang,
Yang Hao
Publication year - 2018
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.2440
Subject(s) - control theory (sociology) , disturbance (geology) , tracking (education) , adaptive control , multivariable calculus , controller (irrigation) , compensation (psychology) , mathematics , engineering , control (management) , control engineering , computer science , psychology , pedagogy , artificial intelligence , paleontology , agronomy , psychoanalysis , biology
Summary In this paper, an adaptive disturbance rejection scheme is developed for output tracking of multivariable nonminimum‐phase systems in the presence of uncertain unmatched input disturbances. Using a new cost function, a control separation–based LQ control framework is established for desired disturbance rejection and output tracking. The finite‐time and infinite‐time control separation–based LQ solutions are derived in an explicit composite controller structure, which has enhanced disturbance compensation and output tracking properties, as compared with a traditional LQ solution. An adaptive parameter update algorithm is used for estimation of uncertain disturbances, based on which an adaptive control separation–based LQ control solution is developed for plants in the presence of uncertain disturbances. Simulation results are presented to verify the desired adaptive disturbance rejection control system performance.