Abstract
The design of continuous-time model reference adaptive control system (MRACS) is usually based on the reduced-order model of the plant which accompanies various modelling errors. Robustness of such a MRACS scheme which is designed by neglecting modelling error becomes very important problem. Authors declared robustness of the conventional MRACS scheme to modelling error arising from inexact pole-zero cancellation. However, in that case, the relative degree of the transfer function of the reduced-order model of the plant is limited in one.
In this paper, we propose the continuous-time MRACS scheme robust to modelling error arising from inexact pole-zero cancellation. This scheme relaxes the restriction on the relative degree of the transfer function of the reduced-order model of the plant. This scheme is characterized by using the auxilialy signal, which is synthesized from the output error between the plant and the reference model, to ensure robustness of the MRACS scheme to the modelling error.
