非モデル化動特性を有する系に対するSAC系設計

抄録

In this paper, a new design scheme of the simple adaptive control (SAC) system based on a frequency domain analysis is considered. The SAC is applicable only to almost strictly positive real (ASPR) plants. However, we can construct an ASPR augmented plant, which is virtually regarded as a new controlled plant, by implementing a parallel feedforward compensator (PFC) or pre-compensator on the plant. The design scheme of such compensators which make the non-ASPR plant to be virtually ASPR is proposed by taking plant uncertainties into consideration. As a result, the applicable class of the SAC can be expanded.