Model-Reference Robust-Control Of A Class Of Siso Systems

    Authors

    Z. H. Qu; J. F. Dorsey;D. M. Dawson

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Autom. Control

    Keywords

    ADAPTIVE-CONTROL; LINEAR-SYSTEMS; STABILIZATION; STABILITY; Automation & Control Systems; Engineering, Electrical & Electronic

    Abstract

    A new control design technique, model reference robust control (MRRC), is introduced for a class of SISO systems which contain unknown parameters, possible nonlinear uncertainties, and additive bounded disturbances. The design methodology is a natural, nontrivial extension of model reference adaptive control (MRAC) which is essential to achieving robust stability and performance for linear time-invariant systems. The methodology also represents an important step toward achieving robust stability for time-varying and nonlinear systems. MRRC requires only input and output measurements of the system, rather than the full state feedback and structural conditions on uncertainties required by existing robust control results. MRRC is developed from existing model reference control (MRC) in a manner similar to MRAC. An intermediate result gives conditions under which MRRC yields exponentially asymptotic stability. The general result yielding uniformly ultimately bounded stability is then developed. A scalar example provides intuition into why the control works against a wide class of uncertainties and reveals the implicit learning capability of MRRC.

    Journal Title

    Ieee Transactions on Automatic Control

    Volume

    39

    Issue/Number

    11

    Publication Date

    1-1-1994

    Document Type

    Article

    Language

    English

    First Page

    2219

    Last Page

    2234

    WOS Identifier

    WOS:A1994PT58900004

    ISSN

    0018-9286

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