CGT ADAPTIVE CONTROL OF NON-ASPR PLANTS WITH NONLINEARITIES OF KNOWN FORM

摘要

A unified approach to supplementary dynamics for the CGT approach to direct model reference adaptive control of non-ASPR plants is extended to include plants with nonlinearities of known form. Sufficient conditions are obtained for the output error to be asymptotically vanishing without the need for an assumption that the nonlinearities are known to be bounded functions. An example of a ship autopilot for a third order ship model with a cubic nonlinearity is presented.