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On the stability of a self-tuning controller in the presence of bounded disturbances

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2 Author(s)
Xingyuan Gu ; Dept. of Autom. Control, Northeast Univ. of Technol., Liaoning, China ; Wei Wang

A proof of bounded-input bounded-output stability of a discrete-time self-tuning control system in the presence of bounded disturbances is given. A recursive least-squares with a dead zone is utilized in the parameter estimation scheme, so that self-tuning takes place only when the identification error exceeds a certain threshold. The controller minimizes a quadratic cost function so that the control signal fluctuations are penalized. The controller can deal with nonminimum-phase systems, which is significant because the nonminimum-phase cases often occur in discrete-time systems. The upper bound of tracking error is also given

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Automatic Control, IEEE Transactions on  (Volume:34 ,  Issue: 2 )