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Model following Adaptive Control based on Least Squares Method
Hiromitsu OGAWA,Manato ONO,Yuichi MASUKAKE,Yoshihisa ISHIDA 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper describes a design method of adaptive control based on least squares (LS) method to the second-order plant with known parameters. To use the LS algorithm properly, the system must be discretized by a zero-order hold. Although adaptive control based on LS without a parallel feedforward compensator (PFC) may be unstable, the proposed system tracks the reference model, and it has no steady-state error in the disturbance response. The PFC improves the plant based on the almost strictly positive real condition, and an integrator improves the steady-state response. Furthermore, the proposed system has the advantage of simpler design compared with the conventional simple adaptive control system. The proposed method does not require the satisfaction of the perfect model following condition.