Input error versus output error model reference adaptive controlAlgorithms for model reference adaptive control were developed in recent years, and their stability and convergence properties have been investigated. Typical algorithms in continuous time involve strictly positive real conditions on the reference model, while similar discrete time algorithms do not require such conditions. It is shown how algorithms differ by the use of an input error versus an output error, and present a continuous time input error adaptive control algorithm which does not involve SPR conditions. The connections with other schemes are discussed. The input error scheme has general stability and ocnvergence properties that are similar to the output error scheme. However, analysis using averaging methods reveals some preferable convergence properties of the input error scheme. Several other advantages are also discussed.
Document ID
19880040086
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bodson, Marc (California Univ. Berkeley, CA, United States)
Sastry, Shankar (California, University Berkeley, United States)