A design method of discrete-time adaptive control systems based on immersion and invariance

Yuta Katakura, Hiromitsu Ohmori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages720-725
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: 2008 Dec 92008 Dec 11

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period08/12/908/12/11

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Katakura, Y., & Ohmori, H. (2008). A design method of discrete-time adaptive control systems based on immersion and invariance. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 720-725). [4738630] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2008.4738630