Output Adaptive Model Reference Control of Linear Continuous State-Delay Plant
نویسنده
چکیده
This paper develops a new approach for the output model reference adaptive control of linear continuous-time plants with state delays. The main idea is to include into the control law a feedforward component which compensates for the delayed states, in addition to output feedback. The feedforward is formed by special adaptively adjusted prefilters as a function of the delayed state of the reference model. The output feedback component is designed as for a plant without delay, but applied to the time-delay plant. Such a controller structure containing adaptive output error feedback and adaptive prefilters from the delayed reference model makes it possible to solve the problem of adaptive exact asymptotic output tracking under parametric uncertainties. The stability is analyzed using the Lyapunov-Krasovskii functional method. Simulation results show the effectiveness of the proposed scheme.
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