Adaptive output feedback apparatuses and methods capable of controlling a nonminimum phase system

摘要

The invention comprises apparatuses and methods for providing the capability to stabilize and control a non-minimum phase, nonlinear plant with unmodeled dynamics and/or parametric uncertainty through the use of adaptive output feedback. A disclosed apparatus can comprise a reference model unit for generating a reference model output signal ym, The apparatus can comprise a combining unit that combines and differences a plant output signal y of a non-minimum phase plant for which not all of the states can be sensed, and a plant output signal y, to generate an output error signal y . The apparatus can further comprise an adaptive control unit for generating an adaptive control signal uad used to control the plant