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

Yuta Katakura; Hiromitsu Ohmori

doi:10.1109/CDC.2008.4738630

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

Yuta Katakura, Hiromitsu Ohmori

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages	720-725
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2008.4738630
Publication status	Published - 2008 Dec 1
Event	47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico Duration: 2008 Dec 9 → 2008 Dec 11

Publication series

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

Other

Other	47th IEEE Conference on Decision and Control, CDC 2008
Country	Mexico
City	Cancun
Period	08/12/9 → 08/12/11

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2008.4738630

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A design method of discrete-time adaptive control systems based on immersion and invariance. / Katakura, Yuta; Ohmori, Hiromitsu.

Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. 2008. p. 720-725 4738630 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4738630, Proceedings of the IEEE Conference on Decision and Control, pp. 720-725, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 08/12/9. https://doi.org/10.1109/CDC.2008.4738630

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