内部モデル同定機構を含む離散時間適応サーボ系の構成と直列型二重倒立振子制御への適用

抄録

For servo systems with unknown reference inputs, this paper proposes an adaptive servo control system identifying the unknown reference signal model. The controller is for a discrete-time, single-input single-output plant. According to the internal model principle of servo control systems, it is neccessary to include the model of a reference input in the servo controller. The servo controller proposed in this paper includes a model identified on-line as the internal model. The design is based on coprime factrization of the plant model over the ring of stable rational functions. It is proved that all internal signals in the control system, error equations and parameter identification law are uniformaly bounded. The scheme is applied to the cart position control of a double inverted pendulum control system.