TY - GEN
T1 - A design method of discrete-time adaptive control systems based on immersion and invariance
AU - Katakura, Yuta
AU - Ohmori, Hiromitsu
PY - 2008/12/1
Y1 - 2008/12/1
N2 - Adaptive control systems are designed to achieve desired control performance when plant parameters gains are unknown, or possibly slowly changing. Highly calculation technology is developed, more important discrete-time adaptive control structure is. Because the relative degree condition for strict positive realness (SPR) of the discrete-time error transfer function is different from the condition of the continuous time case, it is hard to prove the stability of the discretized continuous-time adaptive control systems. The main contribution of this paper is the extension of an Immersion and Invariance (I&I)-based adaptive control algorithm from continuous to discrete time. The theoretical stability of the proposed discrete time I&I-based adaptive control system is proved. In order to show the effectivaness of the proposed method, numerical simultions are shown.
AB - Adaptive control systems are designed to achieve desired control performance when plant parameters gains are unknown, or possibly slowly changing. Highly calculation technology is developed, more important discrete-time adaptive control structure is. Because the relative degree condition for strict positive realness (SPR) of the discrete-time error transfer function is different from the condition of the continuous time case, it is hard to prove the stability of the discretized continuous-time adaptive control systems. The main contribution of this paper is the extension of an Immersion and Invariance (I&I)-based adaptive control algorithm from continuous to discrete time. The theoretical stability of the proposed discrete time I&I-based adaptive control system is proved. In order to show the effectivaness of the proposed method, numerical simultions are shown.
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U2 - 10.1109/CDC.2008.4738630
DO - 10.1109/CDC.2008.4738630
M3 - Conference contribution
AN - SCOPUS:62949173452
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 720
EP - 725
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -