AN APPROACH TO DIGITAL IMPLEMENTATION OF CONTINUOUS BACKSTEPPING ADAPTIVE CONTROL FOR LINEAR SYSTEMS

摘要

This paper presents a solution to the problem of digitally implementing backstepping adaptive control for linear systems. The continuous-time system to be controlled is given a discrete-time representation in the δ-operator. A discrete adaptive backstepping controller is then designed for such a discrete-time model. The effect of the modelling error, generated by the sampling process, is accounted for in the parameter update law by a σ-modification. It is shown that all the signals (discrete and continuous) of the closed loop are uniformly bounded, with a region of attraction which is a K∞ function of the samp1ing rate. An upper bound on the asymptotic tracking error is then given, and shown to be proportional to the sampling period. Copyright