New Discrete-Time Algorithm for Simple Adaptive Control.

概要

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Model reference and pole placement adaptive controls are typical and reliable schemes of present adaptive control, but these are difficult to be applied to multiinput and multioutput (MIMO) system since too much time is required to compute their complicated algorithms.Simple adaptive control (SAC) is useful for practical implementation, especially for MIMO controlled systems, because of simplicity of its structure. However, its conventional discrete-time algorithm has theoretical ambiguity in the delay of computational time and the feedforward element inserted to make the controlled system almost strictly positive real (ASPR).This paper proposes a new discrete-time algorithm, which removes the above ambiguity. The defects of the conventional algotithm are first explained and the fact is analysed that the insertion of the feedforward gain is equivalently transformed to the change of adaptive gains in the algorithm. The error equations are derived and verified to be ASPR. The stability of the algorithm is proved by using Lyapunov function and Kalman-Yakubovich lemma.Finally, a simple example is simulated to confirm the validity of the algorithm.
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