SHORT COMMUNICATION Addendum to 'Output feedback adaptive command following and disturbance rejection for nonminimum phase uncertain dynamical systems'

摘要

In [1], we developed an output feedback adaptive control framework for continuous-time nonminimum phase multivariable systems for output stabilization, command following, and disturbance rejection. The approach is based on a nonminimal state space realization that generates an expanded set of states using filtered inputs and filtered outputs, and their derivatives, of the original system. Specifically, a direct adaptive controller for the nonminimal state space model is constructed using the expanded states of the nonminimal realization. The results in Section 2 of [1] present a novel nonminimal state space realization architecture for continuous-time, linear multivariable uncertain dynamical systems. However, though the results in Sections 3 and 4 of [1] are correct in terms of guaranteeing that the error state e(t)=~△Xf(t) —x_m(t) converges to zero asymptotically, where X_f(t) is the state of the nonminimal state space realization of (11) and (12), and x_m(t) is the state vector of the modified reference model (47), they, unfortunately, do not solve the output stabilization, command following, and disturbance rejection problem for an a priori given reference system. Rather, as stated in Theorems 3.1 and 4.1 of [1], command