Gap Metric Robustness of Adaptive Controllers
نویسنده
چکیده
We consider the construction of adaptive controllers for minimum phase linear systems which achieve non-zero robustness margins in the sense of the (linear) L2[0,∞) gap metric. The gap perturbations may be more constrained for larger disturbances and for larger parametric uncertainty. Working within the framework of the nonlinear gap metric [3], universal adaptive controllers are first given achieving this goal for first order plants, and the results are then generalised to relative degree one, minimum phase plants.
منابع مشابه
Vinnicombe’s Winding Number Condition Is Not Transitive: Impacts for Adaptive Control
Recent approaches to adaptive control with caution advocate the use of the ν-gap metric to restrict the permitted deviation between successive controllers based on the achieved performance of the current controller. The aim is to limit the magnitude of the controller adjustment in order to profit from the closedloop stability and performance guarantees associated with the ν-gap metric. The comp...
متن کاملStructural Robustness and Multi-Model Control in Gap Metric
The gap metric is a successful metric in control theory, which can measure the uncertainty and describe the performance specifcations of the robust control system. In the framework of this metric, robust stability radius is proposed to characterize the stability robustness of the closed-loop system. When both the plant and the controller have uncertainties simultaneously, we introduce the struc...
متن کاملA New Robust Stability Margin
The aim of this paper is to derive a new robust stability margin. Known sufficient conditions for robust stability stated in gap-metric sense contain inherent conservativeness in the formulation of the various steps. In this paper conservativeness in one of the steps is removed, resulting in a new robustness margin. The key issue is that more information of the specific controller is taken into...
متن کاملThe Validity Range of LSDP Robust Controller by Exploiting the Gap Metric Theory
This paper attempts to define the validity domain of LSDP (Loop Shaping Design Procedure) controller system, by determining the suitable uncertainty region, so that linear system be stable. Indeed the LSDP controller cannot provide stability for any perturbed system. For this, we will use the gap metric tool that is introduced into the control literature for studying robustness properties of fe...
متن کاملA Thorough Comparative Analysis of PI and Sliding Mode Controllers in Permanent Magnet Synchronous Motor Drive Based on Optimization Algorithms
In this paper, the speed tracking for permanent magnet synchronous motor (PMSM) in field oriented control (FOC) method is investigated using linear proportional-integral (PI) controller, sliding mode controller (SMC) and its advanced counterparts. The advanced SMCs considered in this paper are fuzzy SMC (FSMC) and sliding mode controller with time-varying switching gain (SMC+TG) which can effec...
متن کامل