Adaptive suboptimal tracking under bounded lipshitz uncertainty and disturbance in discrete-time minimum-phase plant

摘要

The paper addresses a problem of suboptimal steady-state tracking a bounded reference signal for minimum-phase plant subjected to bounded external disturbance and nonparametric bounded time invariant uncertainty that satisfies the generalized Lipshitz condition. Upper bounds of the disturbance and uncertainty and the transfer function of the plant are assumed to be unknown. Minimization of the tracking error with a prescribed tolerance is achieved via the online estimation of the transfer function and the uncertainty. Solution of the problem is based on two parallel estimation algorithms, one of which ensures the stability of the closed loop system and the other one provides a suboptimality of tracking.