Adaptive one-step-ahead control with input amplitude, rate, and acceleration constraints

Considers tracking control design for uncertain linear SISO stable processes with input amplitude, rate, as well as acceleration constraints. A self-tuning adaptive control was developed. Its underlying control design is carried out via one-step ahead optimal control while its parameter update is obtained through the least-square projection algorithm. It is shown that, under a sufficient condition, the proposed adaptive control is globally convergent in the sense that the adaptive control asymptotically matches the constrained one-step-ahead optimal control which assumed system parameters are available. Computer simulation of the velocity tracking performance of a DC motor with input voltage amplitude, rate, and acceleration constraints are provided to illustrate the effectiveness of the proposed adaptive control.