Simplified Robust Adaptive Control Systems

Abstract

Recently, the so-called simple adaptive control (SAC) techniques have been turned attention because of its high practical control performance in spite of its quite simple control structure. The method is fundamentally applicable to plants which satisfy the so-called almost strictly positive real (ASPR) condition.
In this paper, it is shown that, even if the plant contains some kinds of disturbances and nonlinearities and does not satisfy ASPR condition, the control performance can be improved quite well by adding a simple robust adaptive controller to the original SAC algorithm. Effects of such a robust controller are examined by a practical DC servo control equipment.