Integral action in robust adaptive control |
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Authors: | Feuer A Goodwin GC |
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Affiliation: | Dept. of Electr. Eng., Technion-Israel, Haifa; |
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Abstract: | Conditions are studied under which integral action in robust adaptive control is soundly based. The method of analysis amounts to verifying that the key conditions needed for convergence are satisfied. A simple strategy is described for choosing the integral constant and global convergence is established for the resultant algorithm. This illustrates a proof paradigm which could be similarly applied to other problems. The principal assumptions used are that the plant, when augmented by an integrator, has a known degree of controllability and that an overbounding function is known for the unmodeled system response. The continuous-time case is treated, but the corresponding discrete-time results follow mutatis mutandis by simply replacing p =d/dt by δ=q-1/Δ, L 2 by l2, ∫ by Σ, and so on |
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