可観測標準状態変数の伝達行列の縮約によるBezout方程式の一解法

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  • Controller-Parameter Calculation Algorithm for Indirect Adaptive Pole Placement Control
  • カカンソク ヒョウジュン ジョウタイ ヘンスウ ノ デンタツ ギョウレツ ノ

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This paper presents an algorithm to calculate the controller parameters of indirect adaptive pole-placement control for SISO noise -free systems based on the common factor elimination techniques. The algorithm consists of three steps; (i) construction of the transfer matrix (W0) for the observable canonical state variable, (ii) detection and elimination of common factor by the triangulation of W0, and (iii) calculation of controller parameters by using the normalized transfer matrix given by (ii). This algorithm is applicable to the case that plant order is not exactly known, and it gives bounded and convergent parameters if persistently exciting input sequence is used. An numerical example is given to illustrate the effectiveness of the proposed method.

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