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Direct adaptive control with integral action for nonminimum phase systems

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2 Author(s)
Jong-Hwan Kim ; Seoul National University, Seoul, Korea ; Keh-Kun Choi

This note presents a direct adaptive control scheme for nonminimum phase systems where controller parameters are estimated from the recursive least-squares algorithm. Some additional auxiliary parameters are obtained from the proposed polynomial identity,, and a local convergence is guaranteed without any extra conditions. 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 as well.

Published in:

Automatic Control, IEEE Transactions on  (Volume:32 ,  Issue: 5 )