Title :
A robust internal model adaptive controller
Author :
Choi, Chong-Ho ; Kim, Ho-Chan
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
We design a robust adaptive controller based on the internal model control (IMC) structure for stable plants. The order of the controller can be lower than that of the plant. Some robustness properties of the IMC structure against modeling errors are presented and the concept of gain margin is utilized to make the adaptive system robust. In addition, we prove the stability of the proposed adaptive control algorithm
Keywords :
adaptive control; control system synthesis; robust control; gain margin; modeling errors; robust internal model adaptive controller; robustness properties; stable plants; Adaptive control; Adaptive systems; Error correction; Low pass filters; Programmable control; Read only memory; Reduced order systems; Robust control; Robustness; Stability;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657917
