TY - JOUR
T1 - L1 adaptive sampled-data control for uncertain multi-input multi-output systems
AU - Jafarnejadsani, Hamidreza
AU - Lee, Hanmin
AU - Hovakimyan, Naira
N1 - Funding Information:
Research supported by National Science Foundation, USA. The material in this paper was partially presented at the 2017 American Control Conference, May 24–26, 2017, Seattle, WA, USA. This paper was recommended for publication in revised form by Associate Editor Brett Ninness under the direction of Editor Torsten Söderström.
Publisher Copyright:
© 2019 Elsevier Ltd
PY - 2019/5
Y1 - 2019/5
N2 - This paper develops a sampled-data (SD) controller for uncertain multi-input multi-output (MIMO) systems, possibly with non-minimum phase zeros, using the L 1 adaptive control architecture. The proposed controller compensates for disturbances and uncertainties within the bandwidth of a low-pass filter. Sufficient conditions for robust stability are obtained for the closed-loop system with SD controller, where the input/output signals are held constant over a sampling period. It is shown that the hybrid closed-loop system can recover the performance of a continuous-time reference system as the sampling time of the SD controller tends to zero. Simulation examples are provided to validate the theoretical findings.
AB - This paper develops a sampled-data (SD) controller for uncertain multi-input multi-output (MIMO) systems, possibly with non-minimum phase zeros, using the L 1 adaptive control architecture. The proposed controller compensates for disturbances and uncertainties within the bandwidth of a low-pass filter. Sufficient conditions for robust stability are obtained for the closed-loop system with SD controller, where the input/output signals are held constant over a sampling period. It is shown that the hybrid closed-loop system can recover the performance of a continuous-time reference system as the sampling time of the SD controller tends to zero. Simulation examples are provided to validate the theoretical findings.
KW - Digital controller
KW - Disturbance compensation
KW - L adaptive sampled-data control
KW - Multi-input multi-output system
KW - Non-minimum-phase system
KW - Output-feedback
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U2 - 10.1016/j.automatica.2019.01.007
DO - 10.1016/j.automatica.2019.01.007
M3 - Article
AN - SCOPUS:85061929348
SN - 0005-1098
VL - 103
SP - 346
EP - 353
JO - Automatica
JF - Automatica
ER -