On the Design of a Multivariable Non-Minimum Phase Adaptive Servo System Having the Robustness to Some Disturbances

Abstract

This paper deals with a design method of a multivariable linear discrete-time adaptive servo system with unknown disturbances such as step, lamp, acceleration. By including the internal model to control and adaptive laws, feedback gains can be identified without any bias, and it also assures that output errors tend to zero asymptotically, thus the control object can be achieved.
Finally, numerical simulations are shown to investigate the feasibility of the proposed approach.