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Robust adaptive control of linear systems with constant uncertain parameters

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3 Author(s)
Sayyarrodsari, B. ; Dept. of Electr. Eng., Stanford Univ., CA, USA ; How, J.P. ; Carrier, A.

Investigates the robust adaptive control problem of linear systems with uncertain parameters in the system matrix A and control coefficient matrix B. A minimax dynamic programming approach is used to derive a measurement based control strategy in the presence of both plant and measurement disturbances. The paper generalizes previously proposed approaches, and investigates a simple numerical algorithm to solve for the robust control strategy. The algorithm is demonstrated on a lightly damped second order spring-mass system to show the feasibility of the proposed control strategy and the subsequent implementation scheme. The performance of the controller and its main features are compared to a H design

Published in:

American Control Conference, 1997. Proceedings of the 1997  (Volume:4 )

Date of Conference:

4-6 Jun 1997