| Autor: |
Howard Kaufman, Kevin C. Craig, Selahattin Ozcelik, Julian A. Demarchi |
| Rok vydání: |
1997 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 30:585-590 |
| ISSN: |
1474-6670 |
| Popis: |
This paper presents the design of a robust direct model reference adaptive control (DMRAC) algorithm with focus on the satisfaction of an almost strictly positive real (ASPR) condition over the maximal range of parameter variations of the plant, and its application to an inverted pendulum. To alleviate the ASPR condition, the pendulum is augmented with a feedforward compensator optimized for robustness. A DMRAC algorithm ensuring asymptotic model following is then integrated with the feedforward compensator design. These new experimental results validate the algorithm's use and applicability to the control of an inverted pendulum with a variety of parameter uncertainties. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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