Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 25, Issue 6, Pages 775-790Publisher
WILEY
DOI: 10.1002/rnc.3099
Keywords
indirect adaptive control; variable structure systems; dual mode adaptive control; smooth control signal; robustness
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In this paper, an indirect approach to the dual-mode adaptive robust controller (DMARC) is proposed, which combines the typical transient and robustness properties of variable structure systems with a smooth control signal in steady state, typical of conventional adaptive controllers, as model reference adaptive controller. The aim of this indirect version, here named indirect DMARC, is to provide a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, and so on, maintaining DMARC properties. In this paper, a stability analysis for the proposed controller and simulations to an unstable second-order plant will be presented. Copyright (c) 2013 John Wiley & Sons, Ltd.
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