一种离散时间直接自适应控制算法

A Discrete Time Direct Adaptive Control Algorithm

应用给出的离散时间直接自适应控制算法改进了离散简单自适应控制的一些缺陷，能够在计算控制律不违反因果律的条件下，使被控对象的输出直接跟踪理想参考模型输出．应用Lyapunov函数和正实引理证明了算法的收敛性，并通过仿真研究说明了算法的有效性和可行性．

A discrete time direct adaptive control algorithm is proposed, which not only remains the features of simple adaptive control but also obeys the causation between input and output for computing the control law. The algorithm also can directly force the plant output to follow the output of the idea model. Lyapunov function and positive real lemma are used to prove the stability of the algorithm. Finally, an example is simulated to confirm the validity of the algorithm.