Adaptive Stabilization of Minimum Phase Plants with Relative Degree <I>n</I> or <I>n</I>+1

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  • 相対次数が<I>n</I>または<I>n</I>+1の最小位相系の適応的安定化
  • ソウタイ ジスウ ガ n マタハ n + 1 ノ サイショウ イソウケイ ノ

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Abstract

This paper proposes a robust high gain adaptive stabilization of minimum phase plants with its relative degree n or n+1. The proposed method uses the fact that any minimum phase plant with its relative degree zero or one can be stabilized by a high gain adaptive control and extends this result by using backstepping. The σ-modification is applied in order to avoid an unnecessarily high gain feedback.

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