速度規範モデルを有する適応D.C.サ-ボ系のロバスト性解析

概要

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Disturbance instability in an adaptive D. C. servo system is investigated. The system considered in this paper is a simple positioning system with a D. C. servo motor. Although the conventional adaptive algorithm is adopted, complete stability analysis of the system under the existence of disturbances is difficult because of the nonlinearlity in the adaptive system. In this paper the drift of the adjustable parameters is discussed by singular perturbation method.<BR>Based on the analysis, some ideas to prevent the adjustable parameters from drifting are presented.