화학공학소재연구정보센터
IEEE Transactions on Automatic Control, Vol.41, No.9, 1352-1358, 1996
Stability and Robustness Properties of a Simple Adaptive Controller
A low-order adaptive tracking controller is proposed for linear time-invariant plants viith a relative degree not exceeding two. The order of the plant is not required to be known a priori. The algorithm is robustly stable with respect to small linear time-invariant plant perturbations and bounded disturbances. The robustness is achieved by using a projection of the parameter estimates in the control law. An additional a priori information needed to design the controller is bounds on the plant parameters, In the absence of plant perturbations and disturbances, perfect tracking is obtained.