| Abstract: | This contribution reports about a discrete-time robust adaptive control strategy for single-input/single-output systems with arbitrary zeros. The adaptive algorithm is mainly based on a direct model reference method. The basic idea presented here is to divide the feedback law into a direct adaptive and a fixed part. By a certain choice of the non-adaptive controller parameters the robustness of the adaptive control loop with respect to unmodelled dynamics of the plant may be increased. The non-adaptive part of the controller can be reformulated as a bypass to the plant and will be denoted as the ‘correction network’ owing to its action on the open-loop zeros of the augmented plant. The new adaptive control strategy removes the major drawbacks of model reference control and is investigated for speed control of a DC motor and voltage control of a synchronous generator. |
