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Erschienen in:
Introduction to Adaptive Control Kapitel lesen Erstes Kapitel lesen

2011 | OriginalPaper | Buchkapitel

14. Adaptive Regulation—Rejection of Unknown Disturbances

verfasst von : Prof. Ioan Doré Landau, Prof. Rogelio Lozano, Prof. Mohammed M’Saad, Prof. Alireza Karimi

Erschienen in: Adaptive Control

Verlag: Springer London

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Abstract

This chapter addresses the problem of attenuation (rejection) of unknown disturbances without measuring them by using a feedback approach. In this context, the disturbance model is unknown and time varying while the model of the plant is known (obtained by system identification) and almost invariant. This requires an adaptive approach. The term “adaptive regulation” has been coined to characterize this control paradigm. Direct and indirect adaptive regulation strategies using the internal model principle and the Youla-Kucera parameterization will be presented. The evaluation of the methodology is done in real time on an active vibration control system using an inertial actuator.

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Vorheriges Kapitel Multimodel Adaptive Control with Switching
Nächstes Kapitel Adaptive Feedforward Compensation of Disturbances
Fußnoten
1
Throughout this chapter it is assumed that the order of the disturbance model is known but the parameters of the model are unknown (the order can be estimated from data if necessary).
 
2
The complex variable z −1 will be used for characterizing the system’s behavior in the frequency domain and the delay operator q −1 will be used for describing the system’s behavior in the time domain.
 
3
The “only if” does not apply if D p divides A.
 
4
Of course it is assumed that D p and B do not have common factors.
 
5
In Tsypkin (1997), such an error equation is provided and it can be used for developing a direct adaptive control scheme. This idea has been used in Valentinotti (2001), Amara et al. (1999a, 1999b), Landau et al. (2005).
 
6
The magnitude of the adaptation gain gives an indication upon the variance of the parameter estimation error—see Chap. 3.
 
7
The convergence towards zero of ε 0(t) can be proven also with the “bounded growth” lemma of Goodwin and Sin (Chap. 11, Lemma 11.1).
 
8
These experiments have been carried out by M. Alma (GIPSA-LAB).
 
Literatur
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Metadaten
Titel
Adaptive Regulation—Rejection of Unknown Disturbances
verfasst von
Prof. Ioan Doré Landau
Prof. Rogelio Lozano
Prof. Mohammed M’Saad
Prof. Alireza Karimi
Copyright-Jahr
2011
Verlag
Springer London
Buch
Adaptive Control

Print ISBN: 978-0-85729-663-4

Electronic ISBN: 978-0-85729-664-1

Copyright-Jahr: 2011

DOI
https://doi.org/10.1007/978-0-85729-664-1_14

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