Model Reference Adaptive Control with an Augmented Error Signal,

摘要

It is shown how globally stable model reference adaptive control systems may be designed when one has access to only the plant's input and output signals. Single input-single output,nonlinear, nonautonomous plants are considered. The design is based on Liapunov's direct method,and makes use of the Meyer-Kalman-Yacubovich lemma. Derivatives of the plant output are not required,but are replaced by filtered derivative signals. An augmented error signal replaces the error normally used,which is defined as the difference between the model and plant outputs. However,global stability is assured by the design in the sense that this normally used error signal is forced to approach zero asymptotically. (Author)