Some design guidelines for discrete-time adaptive controllers
This paper presents an analysis, based upon linearization, around the equilibrium of the unsuitable behaviour (leading perhaps to instability) which appears in adaptive control systems when unmoduled dynamics are present. Several heuristical design rules around the choice of the sampling period, adaptive gains and nominal open-loop systems are given in order to dominish the possible drawbacks in the presence of unmodeled dynamics. In spite of the fact that the presented results and some of those referenced in this work of the same authors have been the first results on this topic, the analysis is often unrigorous. Linearizations of a nonlinear system around the equilibrium can lead to erroneous stability results (under purely imaginary system modes) for interpretation of the true nonlinear stability even locally around the equilibrium. The results about stability under constant reference sequences will be probably different, and non applicable to the case of other reference input types. Moreover,, adaptive systems have occasionally more than one equilibrium point. However, the investigations in this paper are interesting, since this problem (unmodeled dynamics) occurs in practice, and it is not known in classical control due to the plant filtering effects.
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- Stable discrete-time adaptive control in the presence of unmodeled dynamics
- Discrete-time multivariable adaptive control
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- Bifurcation in model reference adaptive control systems
- Enhancing the robustness of GPC via a simple choice of the Youla parameter
- Stability of rate constrained robust pole placement adaptive control systems
- Global boundedness of discrete-time adaptive control just using estimator projection
- Adaptive GPC based on Laguerre-filters modelling
- A robust model reference adaptive control for non-minimum phase systems with unknown or time-varying delay
- A stable MRAC design for discrete plants with unmodelled dynamics
- Nonlinear control algorithms and power system application
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- Stabilization of discrete adaptive systems with bounded disturbances
- Pole assignment under changes in dynamics of multivariable systems
- Robust adaptive pole-placement control using the pseudo-plant method
- LOCAL FEEDBACK CONTROL OF THE NEIMARK–SACKER BIFURCATION
- Optimality in discrete model-following systems in the presence of unmodelled dynamics
- Robustness of adaptive controllers - a survey
- A robust model reference adaptive control for nonminimum phase systems
- A perspective on convergence of adaptive control algorithms
- An input-output view of robustness in adaptive control
- Instability analysis and improvement of robustness of adaptive control
- Properties of generalized predictive control
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