离散时间直接型模型参考自适应控制

本文针对一类离散时间系统, 研究了具有规范化自适应律的直接型模型参考自适应控制 (MRAC). 我们重新证明了离散时间系统的输入与输出间的 Lp 范数与 L2δ 范数关系特性和离散时间的交换引理 1 与引理 2. 并建立了离散时间自适应律的性质, 定义了规范化信号, 把闭环系统中的所有信号与其建立联系. 从而, 正如连续时间系统一样, 以一种系统化的方法严格分析了离散时间 MRAC 方案的稳定性与收敛性.

Discrete-time Direct Model Reference Adaptive Control:A Systematic Approach

For a class of discrete-time systems, the design and analysis of direct model reference adaptive control (MRAC) with normalized adaptive law are investigated. We reprove the discrete-time conclusions on the Lp and L2δ relationship properties between the input and the output, and the discrete-time swapping Lemmas 1 and 2. We also establish the properties of discrete-time adaptive law, define the normalizing signal, and relate the signal with all the signals in the closed-loop system. Thus, the stability and convergence properties of the discrete-time MRAC scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.