Robust adaptive control based on riccati equation, and its application to DC servomotor

Author

Matsuo, Takami ; Matsuzaki, Wataru ; Suemitsu, Haruo ; Nakano, Kazushi

Author_Institution

Dept. of Human Welfare Eng., Oita Univ., Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

446

Abstract

Matsuo and Nakano (1999) proposed a parameter adjustment law that guarantees the stability of the error system that has a positive definite solution for a Riccati equation instead of the strictly positive realness condition, even if the plant has exogenous disturbances. However, the parameter adjustment law has the disadvantage that the transient response of the closed loop system has the large overshoot. In this paper, we try to improve the transient performance by introducing the imaginary axis shifting. Moreover, we apply the adaptive scheme to the position control of DC servomotors

Keywords

DC motors; Riccati equations; adaptive control; closed loop systems; machine control; position control; robust control; servomotors; transient response; DC servomotor; Riccati equation; closed loop system; error system; exogenous disturbances; parameter adjustment law; position control; positive definite solution; robust adaptive control; transient response; Adaptive control; Closed loop systems; Error correction; Position control; Riccati equations; Robust control; Robust stability; Servomotors; Spirals; Transient response;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973191

Filename

973191