A Model Reference Robust Control with Unknown High Frequency Gain Sign: General Case

摘要

In this paper, we discuss the model reference robust control (MRRC) for plants with relative degree greater than one and without the knowledge of high frequency gain sign. Based on an appropriate monitoring function, a switching scheme is proposed so that after a finite number of switching, the tracking error converges to a residual set that can be made arbitrarily small by properly choosing some design parameters. Furthermore, if some initial states of the closed-loop system are zero, we show that at most one switching is needed.