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On simple adaptive control of plants not satisfying almost strict passivity and positivity conditions: an introduction to parallel feedforward configuration

机译:在不满足几乎严格的被动性和积极性条件的工厂的简单自适应控制上:并行前馈配置简介

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Simple adaptive control systems were known to be robust against a class of disturbances and globally stable if the controlled plant is almost strictly positive real, that is, if there exists a positive definite static output feedback (unknown and not needed for implementation) such that the resulting closed-loop transfer function is strictly positive real. The present paper discusses the simple adaptive control scheme for a non-almost strictly positive real plants and gives a brief review of the parallel feedforward which makes the augmented plant satisfy the almost passivity or positivity conditions based on the stabilisability property of the system. The validity of the simplified adaptive algorithm under the positivity condition is examined through numerical simulation for both single-inputs single-outputs and multi-inputs multi-outputs systems.
机译:如果受控工厂几乎严格为正实数,也就是说,如果存在正定的静态输出反馈(未知且不需要实施),则简单的自适应控制系统已知对一类干扰具有鲁棒性,并且全局稳定。由此产生的闭环传递函数严格是正实的。本文讨论了一种针对非严格严格正实植物的简单自适应控制方案,并简要回顾了并行前馈,该并行前馈使增强植物基于系统的稳定性能满足了几乎被动或积极的条件。通过数值模拟,对单输入单输出和多输入多输出系统在正条件下简化自适应算法的有效性进行了检验。

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