On the robust stability of a Clarke-Gawthrop type of self-tuning controller
作者:
CHENG SHAO,
期刊:
International Journal of Control
(Taylor Available online 1996)
卷期:
Volume 64,
issue 4
页码: 721-731
ISSN:0020-7179
年代: 1996
DOI:10.1080/00207179608921652
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
In this paper the Clarke-Gawthrop type of self-tuning controller is modified and shown to be robust stable with respect to unmodelled plant uncertainties and bounded disturbances. A self-tuning controller is proposed here consisting of two steps: the first, an optimal control law, is derived by means of minimizing a quadratic cost function of the Clarke-Gawthrop type; the second, the optimal control law, is modified by introducing an estimate of the modelling error as a feedback. For the parameter estimation, a modified least-squares scheme with a relative dead zone is employed. The robustness results are derived by neither requiring too much a priori knowledge of the plant parameters, nor using any assumptions about the adaptive signals.
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