非最小相位系统的MRAC方案及应用

基于POPOV超稳定理论,设计了一种适合非最小相位系统的模型参考自适应控制(MRAC)方案。采用从模型取状态技术,增加系统对噪声的鲁棒性。采用可调线性补偿器,不需系统参数变化范围已知的假定条件。在模型中增加了可调零点,抵消对象的非最小相零点的作用,保证了MRAC系统的全局渐近超稳定性。

Based on he hyper-stable theory, a kind of model reference adaptive control(MRAC)scheme is been designed for non-minimum phase system. Take state from model for the robust to noise. Takeadaptive compassion avoiding the assumption of knowing the scope of parameter of system. Adding adaptive ze-ros, the zeros of non-phase system, the globe gradual stable is ensured.