Lyapunov-based backward-horizon adaptive stabilization
نویسندگان
چکیده
In this paper we develop a discrete-time adaptive stabilization algorithm based on a one-step backwardhorizon cost criterion. By optimizing the cost with respect to the update step size, we obtain a gain update law that guarantees convergence of the plant states. The convergence proof is based on a modified Lyapunov technique. We extend the algorithm to include integral control for rejecting constant disturbances and we present an experimental application to DC motor positioning system. Copyright # 2003 John Wiley & Sons, Ltd.
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تاریخ انتشار 2003