Title :
Robust sampled-data adaptive control of the Rohrs counterexamples
Author :
Sumer, Erol D. ; Bernstein, D.S.
Author_Institution :
Dept. of Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA
Abstract :
We revisit the Rohrs counterexamples within the context of sampled-data adaptive control. In particular, retrospective cost adaptive control (RCAC) is applied to the sampled continuous-time plant with unmodeled high-frequency dynamics, which involves nonminimum-phase (NMP) sampling zeros. It is shown that, without knowledge of these NMP zeros, RCAC stabilizes the uncertain plant and asymptotically follows the sinusoidal command.
Keywords :
adaptive control; asymptotic stability; continuous time systems; poles and zeros; robust control; sampled data systems; NMP sampling zeros; RCAC; Rohrs counterexamples; asymptotic stability; nonminimum-phase; retrospective cost adaptive control; robust sampled-data adaptive control; sampled continuous-time plant; uncertain plant stability; unmodeled high-frequency dynamics; Adaptation models; Adaptive control; Closed loop systems; Frequency conversion; Markov processes; Robustness; Transfer functions;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6427021
