2自由度構成された固定補償要素を含む多変数モデル規範型適応制御系

抄録

A multivariable model reference adaptive control system (MRACS) including a fixed compensator is proposed. First, an exact model matching (EMM) system with two-degree-of-freedom structure is derived. Using this structure, a multivariable MRACS including fixed compensator is constructed. Since the proposed method is based on the EMM system with two-degree-of-freedom structure, the fixed compensator is chosen independently of specifications for responses to reference commands. The boundedness of all signals in the closed-loop system and the convergence of the output error are proved. A design method of the fixed compensator for MRACS with low sensitivity is also given. Finally, numerical examples are illustrated in order to show the effectiveness of the proposed method.