Abstract
We consider parameter-monotonic direct adaptive control for single-input-single-output minimum-phase linear time-invariant systems with knowledge of the sign of the high-frequency gain (first nonzero Markov parameter) and an upper bound on the magnitude of the high-frequency gain. The first part of the paper is devoted to fixed-gain analysis of single-parameter high-gain-stabilizing controllers. Two novel fixed-gain dynamic compensators are presented for stabilizing minimum-phase systems. One compensator stabilizes systems with arbitrary-but-known relative degree, while the other utilizes a Fibonacci series construction to stabilize systems with unknown-but-bounded relative degree. Next, we provide a general treatment of parameter-monotonic adaptive control, including a result that guarantees state convergence to zero. This result is then combined with the high-gain-stabilizing controllers to yield parameter-monotonic direct adaptive dynamic compensation for minimum-phase systems with either arbitrary-but-known or unknown-but-bounded relative degree.
Original language | English |
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Pages (from-to) | 610-621 |
Number of pages | 12 |
Journal | IEEE Transactions on Automatic Control |
Volume | 52 |
Issue number | 4 |
DOIs | |
State | Published - Apr 2007 |
Keywords
- Adaptive control
- Fibonacci
- Parameter monotonic
- Relative degree
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering