DOI 10.17586/0021-3454-2015-58-9-687-693
UDC 681.513.6
ADAPTIVE CONTROL ALGORITHM FOR LINEAR OBJECT WITH ARBITRARY RELATIVE DEGREE
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate professor
M. V. Lyzlova
ITMO University; postgraduate
A. S. Milyushin
ITMO University; Department of Computer Science and Control Systems; Graduate Student
V. O. Nikiforov
ITMO University, Saint-Petersburg, 197101, Russian Federation; Vice-Rector for Research
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Abstract. A solution to the problem of adaptive control over linear perturbed object with arbitrary relative degree is proposed. The control is designed on the basis of the method of standard characteristic polynomials and has only one adjustable parameter which is the averaged radius of roots distribution generated by the first order adaptation algorithm. The regulator possesses a simple structure, low dynamic order equal to one, and provides boundedness of all signals in the closed system and exponential decay of output error to zero equilibrium. Results of digital simulation demonstrate the proposed algorithm effectiveness.
Keywords: adaptive control, linear object, system with variable parameters
