Title :
Adaptive output regulation of unknown MIMO linear systems with unknown exosystems
Author :
Mizumoto, Ikuro ; Iwai, Zenta
Author_Institution :
Dept. of Mech. Syst. Eng., Kumamoto Univ., Kumamoto, Japan
Abstract :
This paper deals with the adaptive regulation problem for unknown multi-input/multi-output linear systems with unknown exosystems. The adaptive output feedback controller with an adaptive internal model is proposed for MIMO minimum phase systems. The proposed method is based on the ASPR based adaptive output feedback control and the controller is designed based on an expanded backstepping strategy of only one step with a parallel feedforward compensator (PFC). The obtained controller structure is relatively simple even if the system has a higher order and a higher order relative degree.
Keywords :
MIMO systems; adaptive control; compensation; control nonlinearities; control system synthesis; feedback; feedforward; linear systems; ASPR based adaptive output feedback control; MIMO minimum phase systems; PFC; adaptive internal model; adaptive output feedback controller; adaptive output regulation; controller design; expanded backstepping strategy; parallel feedforward compensator; unknown MIMO linear systems; unknown exosystems; unknown multiinput multioutput linear systems; Adaptation models; Adaptive systems; Backstepping; Control systems; Radio frequency; Rail to rail inputs; Vectors; MIMO systems; PFC; adaptive control; backstepping; output feedback control;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6