入力平滑特性を有するモデル規範形適応制御系の一設計法

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  • On the model reference adaptive control systems with input smoothing property.
  • ニュウリョク ヘイカツ トクセイ オ ユウスル モデル キハンガタ テキオウ

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This paper is concerned with the model reference adaptive control (MRAC) of single-input single-output discrete-time linear systems subject to unknown constant and small vibrated disturvances. A method to decrease the input-sensitivity to the small vibrated disturvance is presented. The method consists of two steps : The extension of the controller structure of the basic MRAC so as to include enough parameters to adjust the transfer function between the input and the vibrated disturvance ; and the step to determine the parameters by using the 1st-order Butterworth low-pass filter or the quadratic criterion. Experimental results of a pressure control system show that the magnitude of the input vibration at the steady state is reduced to l/5∼1/6 of the basic MRAC, and that the control performance is comparable to the well-tuned velocity-type PI control.

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