入力直達項をもつ多入出力システムに対する適応フィードフォワードを併用した適応出力フィードバック制御系設計

抄録

In this paper, two-degree of freedom adaptive control system design scheme via an adaptive output feedback control with a simple adaptive feedforward input is proposed based on ASPR property of the system for MIMO discrete-time systems with the relative degree of zero. Since the ASPR discrete-time system must have the direct feedthrough term of the input, the control system is not able to design directly due to causality problem. To solve this causality problem, we will consider introducing a pre-compensator and introducing a parallel feedforward compensator for making the system ASPR again. We will also propose a simple adaptive feedforward control design scheme for improving the control performance. The effectiveness of the proposed method will be confirmed through some numerical simulations.