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Model reference control in two degree of freedom control systems: adaptive min-max approach

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2 Author(s)
Vilanova, R. ; Auto. Control & Syst. Eng. Group, Univ. Autonoma de Barcelona, Spain ; Serra, I.

The design of a control system, that provides a model reference performance specification for the command response and, at the same time, achieves some prespecified feedback properties, is discussed. The use of a particular configuration of a two degree-of freedom controller allows the feedback and performance specifications to be tackled independently through the design of a feedback controller for the nominal plant and the model reference part by means of model matching in a min-max sense. A closed-form solution is provided for the optimal min-max controller. This closed-form solution will be very useful when using this controller in an adaptive way. The resulting adaptive controller consists of a fixed feedback part and an adaptive open-loop part. Only one degree-of-freedom is adapted. An example shows that it is possible to match the model reference performance specification, even near the stability limit

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:146 ,  Issue: 3 )