Frequency adaptive control of stable plant in the presence of bounded disturbance

摘要

Adaptation algorithm for a stable plant in the presence of unknown-but-bounded disturbance is proposed. It makes use of a sufficient small test signal with minimal quantity of harmonics which is equal to the state space dimension of the plant or closed-loop system. Adaptation process is divided from intervals on which a plant and closed-loop system are identified. The plant coefficients estimates are used for controller redesign and the identified characteristic polynomial of closed-loop system are compared with a specified wished characteristic polynomial. If these polynomials approximate then adaptation is ended. Conditions for disturbance under which adaptation algorithm converges are derived. They may be examined by experiment.