D27 PFC design method in SAC using distributed Particle Swarm Optimization

Abstract

When simple adaptive control (SAC) is applied to the vibration system which includes antiresonance modes, there is the problem that undesirable vibration input is generated. A solution is to use parallel feedforward compensator (PFC) which makes expansion system by plant and PFC into desirable frequency response. On the other hand, PFC is required of attaining ASPR property for the expansion system. We show a new method to solve these problems. Effectiveness of the proposed method is verified by experiments.