New simple adaptive control algorithms in case of arbitrary relative degree

摘要

Novel simple adaptive control algorithms for a non-ASPR plant are proposed without using an ordinary parallel feedforward controller. The proposed schemes consist of three basic procedures: decomposition of the non-ASPR plant into an unknown ASPR subsystem and a known stable subsystem, determination of a virtual control input to the ASPR subsystem based on the simple adaptive control, calculation of the actual control input through a design of H_ infinity control for the known subsystem for tracking the virtual control input. An extension to a discrete-time algorithm is also investigated. Furthermore, a new alternative approach without using a normalizing signal is also proposed. The advantage of these new approaches needs no prior knowledge on the unknown non-ASPR plant.