Transient Response Improvement Using Disturbance Compensator for the Simple Adaptive Control System with the Null-space Adjustor

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  • 零空間調整器を付加した単純適応制御系に対する外乱補償器を用いた過渡応答改善
  • レイ クウカン チョウセイキ オ フカ シタ タンジュン テキオウ セイギョケイ ニ タイスル ガイラン ホショウキ オ モチイタ カト オウトウ カイゼン

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Abstract

<p>A stable control system is easily designed with the simple adaptive control (SAC) method by using the almost strictly positive real (ASPR) condition of a plant. For the plant that does not satisfy ASPR, an SAC system can be designed by adding a parallel feed-forward compensator (PFC) to the plant. However, in this case, steady-state error between the plant output and the reference model output may remain because of the PFC output. To solve this problem, the null-space adjustor which cancels the PFC input on the steady-state of the system, has been proposed. In our study, an SAC system with the null-space adjustor was extended using a disturbance compensator. We showed the boundedness of the signal in the proposed SAC system and confirmed the effectiveness of the proposed method by the numerical simulation.</p>

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