Direct adaptive control of nonminimum phase systems using integralaction |
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Authors: | Jong-Hwan Kim Yeon-Chan Hong Sung-Jun Lee Keh-Kun Choi |
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Affiliation: | Dept. of Electron. Eng., Seoul Nat. Univ.; |
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Abstract: | A direct adaptive control scheme is proposed for nonminimum-phase systems in which controller parameters are estimated from the recursive least-squares algorithm and additional auxiliary parameters are obtained from the proposed polynomial identity. A local convergence is guaranteed without any extra condition. Integral action is incorporated into the adaptive controller to eliminate the steady-state error and to satisfy a condition of the unique solution for the polynomial identity. The control law used in this scheme is based on the set-point-on-I-only proportional-integral-derivative (PID) structure |
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