Title

Model Reference Robust Control Of A Class Of Siso Systems

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. © 1994 IEEE

Publication Date

1-1-1994

Publication Title

IEEE Transactions on Automatic Control

Volume

39

Issue

11

Number of Pages

2219-2234

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/9.333767

Socpus ID

0028543196 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0028543196

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