| Title |
Robust Adaptive Control Systems by using Linear Programming in Parameter Estimaton. |
| Abstract |
An adaptive control problem for a plant with unmodelled dynamics is studied. The upper bounds of the output due to the unmodelled dynamics and measurement noise is assumed to be known. This problem was studied by Middleton et al. They used a modified form of the least square method in estimating the plant paramaters. In this paper, the bounds of the parameters are estimated by linear programming and the parameters are estimated by the projetion type algorithm incorporating the bounds of the parameters. The stability of the proposed adaptive control system can be proved in nearly the same way as the proof of Middleton. The performance of the proposed method is found to be much better than the method of Midlleton's with respect to the parameter convergence and plant output in computer simulations. |