Title :
Applying the RMMAC methodology to an unstable plant
Author :
Hassani, Vahid ; Athans, M. ; Pascoal, A.M.
Author_Institution :
Inst. for Syst. & Robot. (ISR), Inst. Super. Tecnico (IST), Lisbon, Portugal
Abstract :
In this paper we revisit previous work on Robust Multiple Models Adaptive Control (RMMAC) of uncertain plants [1]. RMMAC was originally developed to control open-loop stable plants. We formulate and study the problem of robust adaptive control of open-loop unstable plants with structured and unstructured uncertainty in the presence of external disturbances and measurement noises, an issue that poses considerable theoretical and practical challenges. In particular, we show, with the help of an example, how a slight modification of the technique introduced in previous work on the RMMAC for stable plants yields a methodology that has the potential to deal with unstable plants. A design example and several nontrivial computer simulations are presented and discussed.
Keywords :
Adaptive control; Convergence; Cost function; Noise robustness; Open loop systems; Parameter estimation; Real time systems; Robots; Robust control; Signal processing; Multiple Model; Robust Adaptive Control;
Conference_Titel :
Electrical Engineering (ICEE), 2010 18th Iranian Conference on
Conference_Location :
Isfahan, Iran
Print_ISBN :
978-1-4244-6760-0
DOI :
10.1109/IRANIANCEE.2010.5506986