Adaptive Multi-periodic Repetitive Control for a Class of Non-linear Systems
نویسندگان
چکیده
Recently it was shown that for the linear time-invariant plant ASPR(Almost Strictly Positive Real)/ASNR(Almost Strictly Negative Real) property can be used to design an adaptive multi-periodic repetitive control system that guarantee the Lyapunov stability of the whole system. This paper attempts to extend this concept to SP(Strictly Passive)/ASP(Almost Strictly Passive) nonlinear plant. The general non-linear plant without a priori knowledge of parameters is considered. A Nussbaum-type adaptive gain is introduced when the control direction of non-linear plant is unknown. Lyapunov stability analysis is presented and simulation is given accordingly. Copyright c ©2005 IFAC
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