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Improving the robustness of Nussbaum-type regulators by the use of σ-modification — local results |
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| Authors: | Jo o Batista D. Cabrera,Katsuhisa Furuta |
| Affiliation: | Department of Control Engineering, Tokyo Institute of Technology, 2-12-1, Oh-Okayama, Meguro-ku, Tokyo, Japan |
| Abstract: | The bursting phenomenon in a Nussbaum-type regulator is discussed. Its cause is associated with some properties of the equilibrium manifold. A σ-modification factor is introduced, and the resulting equilibrium set is completely characterized using linearization techniques. Local robustness against bounded disturbances is proved by Malkin's Theorem, and verified by simulation. |
| Keywords: | Adaptive control stabilization Nussbaum controllers σ-modification local stability |
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