期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 81, 期 12, 页码 1870-1877出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207170801918568
关键词
adaptive control; variable structure control; robustness; unmodelled dynamics
This paper presents the stability and robustness analysis of an indirect adaptive control based variable structure algorithm for uncertain plants with relative degree one. The indirect approach has been proposed as a way to get an easier design of the switching laws, compared to the direct relationship between the plant transfer function parameters and the physical parameters of the system. Here, a singular perturbation approach is used to establish the robustness of the controller in the presence of unmodelled dynamics and disturbances. It is shown that, for sufficiently small parasitics, the system remains stable with respect to some small residual set.
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