Adaptation rates for MRAC systems
作者:
JACOBS. GLOWER,
ROBERTE. FENTON,
期刊:
International Journal of Control
(Taylor Available online 1989)
卷期:
Volume 50,
issue 5
页码: 1645-1665
ISSN:0020-7179
年代: 1989
DOI:10.1080/00207178908953457
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A method for predicting the adaptation rate of a single-input, hyperstability-based, MRAC system is developed. Assuming a slowly changing input and output, this rate follows well-defined root loci. A straightforward method for choosing adaptation gains results. The derived theory was applied to a laboratory experiment which involved a DC motor driving an inverted pendulum. Here, the adaptation rates were accurately pedicted in spite of imperfect model following due to the presence of unmodelled static friction.
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