This paper presents a multirate scheme for discrete-time model reference adaptive control (MRAC) in which the controller parameters are updated at an integer multiple of the control period. This scheme enables us to implement a discrete-time MRAC system for any minimum phase continuous-time plant, employing a sophisticated adaptive law with fast convergence. In this scheme the MRAC system is designed based on an approximate discrete-time model of the plant expressed in terms of the delta operator and thus the robustness of the resulting system to the model error should be discussed. It is proved that the proposed scheme allows the MRAC system to behave robustly to the model error if the regressor signal is persistently exciting and the control period is chosen sufficiently small. The usefulness of the scheme is demonstrated by the computer simulations carried out for a second order example system.
|ジャーナル||National Conference Publication - Institution of Engineers, Australia|
|出版物ステータス||Published - 1 12 1988|
|イベント||1988 IFAC Workshop on Robust Adaptive Control - Newcastle, Aust|
継続期間: 22 8 1988 → 24 8 1988