Construction of Adaptive Control System Based on an Exact Model Matching Technique

Abstract

In spite the fact that adaptive control is nothing but an exact model matching under the condition that the plant parameters are unknown. there have been very few researches which have been carried out along the line of extending exact model matching to unknown plant. The usual exact model matching developed by Wolovich is not easy to be extended to adaptive control because the input dynamics of the resulting system depend on plant parameters. In this paper, a new exact model matching with the input dynamics which do not depend on plant parameters are presented, and is extended to the construction of adaptive control system in the very natural way. The structure of the resulting adaptive control system is essentially the same as the one of Narendra et al., but it needs the concept of neither positive real function nor augmented error signal, and is very plain and understandable. It is proven easily that the plant input signal converges to that which is employed in the exact model matching, and hence the total stability is assured. Also, the problem of degree difference of the plant does not cause any trouble at all.