Title :
Direct adaptive control of discrete-time nonlinear systems using an input-output model
Author :
Rokui, M.R. ; Khorasani, E.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
A direct adaptive tracking controller for a class of nonlinear discrete-time systems expressed in input-output form is developed. Using a state space representation, the linearizing input and the internal dynamics are obtained. By employing the projection algorithm the estimate of the unknown parameters are utilized in the linearization process. A Lyapunov analysis is used to show that under certain conditions (a priori lower and upper bound of the unknown parameters), the closed-loop adaptively controlled system is stable and moreover the tracking error converges to zero asymptotically. Finally, the simulation results are presented to illustrate the features of the proposed method
Keywords :
Lyapunov methods; adaptive control; closed loop systems; discrete time systems; linearisation techniques; nonlinear control systems; parameter estimation; state-space methods; I/O model; Lyapunov analysis; closed-loop adaptively controlled system; direct adaptive control; direct adaptive tracking controller; discrete-time nonlinear systems; input-output model; internal dynamics; linearization process; linearizing input; projection algorithm; state-space representation; tracking error asymptotic convergence; unknown parameters; Adaptive control; Control systems; Error correction; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Projection algorithms; State-space methods; Upper bound;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574530
