Retrospective-Cost Adaptive Control of Uncertain Hammerstein Systems Using a NARMAX Controller Structure

摘要

We apply an extension of retrospective cost adaptive control (RCAC) to a command-following problem for uncertain Hammerstein systems. In particular, RCAC with a NARMAX controller strucuture is applied to linear systems cascaded with input nonlinearities. We assume that one Markov parameter of the linear plant is known. RCAC also uses knowledge of the monotonicity properties of the input nonlinearity. The goal is to determine whether RCAC with a NARMAX controller structure can improve the command-following performance compared to the linear RCAC controller.