非线性系统鲁棒无模型学习自适应控制

Robust Modelless Learning Adaptive Controlof Nonlinear Systems

给出了ＭＩＳＯ非线性系统的无模型学习自适应控制方案，它具有极其简单的递推形式，可以处理传统ＰＩＤ控制器不能处理的ＭＩＳＯ非线性系统、时变系统等。并且讨论了控制系统的收敛性、稳定性及鲁棒性。仿真结果说明这种理论的优越性。

The robust modelless learning adaptive control for the MISO nonlinear systems is presented in thispaper, it is of extremely simple recursive, incremental form. It can deal with the MISO nonlinear timevarying systems which the traditional PID controller can not deal with. The convergence, stability, and robustness are also discussed. Various nonlinear systems are simulated with the modelless learning adaptivecontrol theory presented in this paper, the simulation results have shown the advantages of this theory.