Adaptive Output Feedback Control System Design with Adaptive Feedforward Input for MIMO Systems with the Relative Degree of Zero

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  • Fujii Seiya
    Graduate School of Science and Technology, Kumamoto University
  • Mizumoto Ikuro
    Faculty of Advanced Science and Technology, Kumamoto University

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  • 入力直達項をもつ多入出力システムに対する適応フィードフォワードを併用した適応出力フィードバック制御系設計
  • ニュウリョクチョクタツコウ オ モツ タニュウシュツリョク システム ニ タイスル テキオウ フィードフォワード オ ヘイヨウ シタ テキオウ シュツリョク フィードバック セイギョケイ セッケイ

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<p>In this paper, two-degree of freedom adaptive control system design scheme via an adaptive output feedback control with a simple adaptive feedforward input is proposed based on ASPR property of the system for MIMO discrete-time systems with the relative degree of zero. Since the ASPR discrete-time system must have the direct feedthrough term of the input, the control system is not able to design directly due to causality problem. To solve this causality problem, we will consider introducing a pre-compensator and introducing a parallel feedforward compensator for making the system ASPR again. We will also propose a simple adaptive feedforward control design scheme for improving the control performance. The effectiveness of the proposed method will be confirmed through some numerical simulations.</p>

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