Discrete Model Regulation for Systems with Uncertain Dynamics

A Model Regulation approach for contol systems with significant uncertain dynamics is studied. The proposed approach regulates the behavior of the actual control plant to its nominal model so that desirable dynamic performance may be achieved by conventional controllers based on the nominal model in spite of the existence of significant uncertain dynamics. Analysis shows that the success of this approach is guaranteed in low frequency range and depends on the delay angle as well as the natural of the model uncertainty in high frquency range. The stability of the compensated system is also determined by the delay angle and the model uncertainty. A DC servomotor system is chosen as an example to demonstrate the effectiveness of the proposed approach. Computer simulations and experimental results prove that both linear (payload variation) and nonlinear (friction force) uncertain dynamics are compensated by the model regulation approach.