Controlador em modo dual adaptativo robusto para plantas com grau relativo unitário: prova de estabilidade

摘要

In this paper the stability proof to the Dual Mode Adaptive Robust Control (DMARC) applied to plants with relative degree one is presented. The DMARC is a control strategy which interpolates the Model Reference Adaptive Control (MRAC) and the Variable Structure Model Reference Adaptive Control (VS-MRAC). The main idea is to develop a robust controller to parametric uncertainties and external disturbances with good transient characteristics (fast response and small oscillations) as in a VS-MRAC and good steady-state characteristic (smooth control signal) as in a conventional MRAC.