ROBUST ESTIMATION METHOD IN ADAPTIVE CONTROL SYSTEM

摘要

PURPOSE: To be robust against disturbance and to quickly adapt to the fluctuation of a controlled system by determining the weighting factor of a scaling type generalized adaptive rule by the use of a specified formula. ;CONSTITUTION: This method is provided with a controller 4 for inputting a target value ym (k) and outputting input signals u (k) for the controlled system 1 so as to match the output y (k) of the controlled system 1 with the target value ym (k), an estimation device 2 for inputting the input/output signals of the controlled system 1 and outputting the parameter of the transfer function G (q) of the controlled system 1 and a setting device 3 for inputting the parameter and setting the coefficient of the controller 4. Then, at the time of adaptively controlling the controlled system 1 by estimating the dynamic characteristics of the controlled system 1 on line, the weighting factor λ2 of the scaling type generalized adaptive rule is determined by the formula. In the formula, ϕ (k) is a signal vector, F (k) is a gain matrix, α is an adaptive gain (1,) e (k) is a formula error, dO (k) is the upper limit of the disturbance and (k) is a sample point.;COPYRIGHT: (C)1996,JPO