一种带有模型误差反馈的鲁棒自校正控制器

A Robust Self-Tuning Controller with Modeling Error Feedback

本文提出一种新的带有模型误差反馈的自校正控制算法，并且证明了：在有界外部扰动及由模型阶次不匹配产生未建模动态存在的条件下，不论系统是否为最小相位，本文算法都能保证闭环系统是鲁棒稳定的，而且平均跟随误差趋于零．仿真结果验证了此算法的有效性．

This paper presents a new self-tuning control algorithm with modeling error feedback. It is shown that in the presence of bounded external distubances and unmodeled which results from model order mismatching, this algorithm ensures not only robust stability of the closed loop system, but also zero tracking error in the average meaning whether the plant is minimum phase of not. Simulation results demonstrate effectiveness of the self-tuning control algorithm.