scientific article; zbMATH DE number 2059919
The authors consider model reference adaptive control (MRAC) of the plant \[ y_p= k_p{Z_p(s)\over R_p(s)}\;(u_p+d), \] where \(R_p(s)\) is a monic polynomial of degree \(n\), \(Z_p(s)\) is a monic polynomial of degree \(m\), and \(d\) is a bounded disturbance. The typical MRAC approach is to choose \(u_p\) so that all signals in the closed-loop system are bounded, and \(y_p\) tracks the reference model output \(y_m\) as closely as possible. The authors assume that the high frequency gain \(k_p\) is bounded and that its sign is known. They propose a modified MRAC scheme. They prove that it has desirable stability and robustness properties and that it is capable of improved transient performance.
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