Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
A Discrete-Time SAC System with No Output Tracking Error
Deyu LIHiroshi SHIBATAToru FUJINAKA
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1999 Volume 12 Issue 5 Pages 304-312

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Abstract

A feasible discrete-time SAC (Simple Adaptive Control) algorithm extended from continuous-time system was proposed for a single-input single-output (SISO) system and removed an offset between a plant output and a reference model output, by inserting parallel feedforward compensators to both of the plant and the reference model. Here, we contrive the design parameters instead of adding the parallel feedforward compensator to the model to remove the above-mentioned offset, and propose a discrete-time SAC algorithm which is feasible and applicable to a multi-input multi-output (MIMO) system. We prove the stability of the system by using asymptotic output tracker theory instead of CGT (Command Generator Tracker) theory, which removes the conventional restriction between the plant and the model.

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