Direct Adaptive Control of Nonminimum Phase Systems Using Integral Action
نویسندگان
چکیده
This paper presents a direct adaptive control scheme for nonminimum phase systems in which controller parameters are estimated from the recursive least-squares algorithm, and additional auxiliary parameters are obtained from the proposed polynomial identity. A local convergence is guaranteed without any extra condition. Integral action is incorporated into the adaptive controller to eliminate the steady-state error and to satisfy a condition of the unique solution for the polynomial identity. The control law used in this scheme is based on the set-point-onI-only PID structure.
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