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Adaptive Internal Model Control: Design and Stability Analysis*

Adaptive Internal Model Control: Design and Stability Analysis*. 報告人 : 鄭景元. outline. The YJBK parameterization Adaptive internal model control Robust adaptive internal model control conclusion. YJBK parameterization. The YJBK parametrization seeks to

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Adaptive Internal Model Control: Design and Stability Analysis*

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  1. Adaptive Internal Model Control: Design and Stability Analysis* 報告人:鄭景元

  2. outline • The YJBK parameterization • Adaptive internal model control • Robust adaptive internal model control • conclusion

  3. YJBK parameterization The YJBK parametrization seeks to parametrize the set of all compensators C(s) that guarantee the stability of the closed- loop system.

  4. Bezout identity Where are stable rational transfer functions X(s) and Y(s) denote a solution of the equation where Q(s) varies over the set of all stable rational transfer functions.

  5. IMC structure for stable plants as a special case of theYJBK parametrization. Now suppose the plant P(s) is open-loop stable and then the Bezout identity holds with X(s) = 0 and Y(s) = 1 We can get the form:

  6. Adaptive internal model control • Equation error method • Linear estimation method plays a critical role • Design and stability analysis concentrate on the ideal case

  7. Mathematical Description plant parameters rewrite linear parametric model

  8. System Block Diagram • Adaptive law • Control law

  9. Analysis of stability and asymptotic performance For any bounded r, all signals in the closed-loop system are uniformly bounded and the internal model output converges to the actual plant output y(t) as t →infinite

  10. Robust adaptive internal model control • Based on adaptive internal model control • Focus on unmodelled dynamics or bounded disturbance

  11. Mathematical Description plant equation multiple function Λ

  12. Robust adaptive law • Control law

  13. conclusion • Adaptive is based on plant states estimation • The controller plays a role that is error correction • MIMO system should be considered

  14. Thank For Your Attention!

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