具有指定跟踪性能的间接鲁棒自适应广义预测控制

针对对象的不确定性干扰（未建模动态、有界干扰等），提出一种新的不需要持续激励条件的间接自适应广义预测控制算法，不仅考虑了自适应控制系统的闭环鲁棒稳定性，而且使所设计的自适应控制闭环系统具有指定的跟踪性能。

Robust Adaptive Generalized Predictive Control with Prescribed Tracking Performance

In robust adaptive generalized predictive controller, now rapidly emerging as a very promising successor to conventional adaptive controller, tracking performance is imperative for it to be practically useful. This paper is believed to be the first published paper on such tracting performance in China, if not in the world.Tracking performance of adaptive generalized predictive controller, in our view, should be able to satisfy the following objectives: (1) partial state tracking ; (2) reference model tracking ; (3) arbitrary pole assignment' Accordingly, we propose a control structure that can be described by eq. (14).We propose a robust adaptive algorithm that corresponds with a robust adaptive generalized predictive controller possessing our proposed tracking performance. This algorithm is based on eqs. (20) through (26), which give suitable consideration to all the following four concepts: normalization, resetting, forgetting, projection.