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Direct adaptive control of nonminimum phase systems using integral action

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4 Author(s)
Jong-Hwan Kim ; Dept. of Electron. Eng., Seoul Nat. Univ., South Korea ; Yeon-Chan Hong ; Sung-Jun Lee ; Keh-Kun Choi

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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Industrial Electronics, IEEE Transactions on  (Volume:36 ,  Issue: 3 )