Realization of Ofep-based Adaptive Output Feedback Control Systems with a Pfc
نویسندگان
چکیده
It is well known that one can easily design an adaptive output feedback control system for nonlinear systems satisfying the output feedback exponential passive (OFEP) conditions. In this paper, we deal with a design problem of an adaptive output feedback tracking control for systems which do not satisfy the OFEP conditions. A simple parallel feedforward compensator (PFC) design scheme for non-OFEP but exponentially stable systems will be shown in order to realize the augmented controlled system with OFEP properties. Further an adaptive output feedback control system design scheme which improves the control performance of the practical control system will be proposed. The proposed method will be applied to the control of a magnetic levitation system and the effectiveness of the proposed method will be confirmed through experiments on the magnetic levitation system.
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PFC design realizing output feedback exponential passivity for exponentially stable non-linear syste
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