既約分解表現を用いた固定補償要素を含むモデル規範型適応制御系の一構成法

抄録

In this paper a new structure of model reference adaptive control system which includes a fixed compensator is proposed. A continuous-time, single-input single-output control system is considered. The structure is derived by using coprime factorization approach in the set of proper stable rational transfer functions. The boundedness of all signals in the closed-loop system and the convergence of the output error is proved. The main feature of the proposed method is that the fixed compensator function is chosen independently of specifications with respect to responses for reference commands. It is shown, also, that through a proper selection of the fixed compensator a model reference adaptive control system which cancels exactly the effects of deterministic disturbances can be constructed. By means of a simulation example the effectiveness and applicability of the proposed method is proved.