离散系统的鲁棒自适应控制

A Robust Adaptive Control for Discrete-Time Systems

本文提出一种鲁棒间接自适应极点配置控制器，它利用相对死区技术使得控制器对一类未建模动态误差和恒定有界扰动具有鲁棒性。文中详细地分析了闭环系统的稳定性和收敛性，找到了保证全局渐近稳定的充分条件。

This paper proposes a robust adaptive control scheme for discrete time systems with unmod-eled dynamics and bounded disturbances. The control scheme guarantees globally asymptotical boundedinput bounded output stability of closed loop system. The analysis of convergence,stability and robust-ness is given in detail.