Design of Nonlinear Plug-In Adaptive Control Systems
by
Hiroyuki Miyamoto
Department of System Design Engineering, Keio University
Coauthors: Hidenobu Tsuruoka (Department of System Design Engineering, Keio University), Hiromitsu Ohmori (Department of System Design Engineering, Keio University)

The problem of making the output of nonlinear systems asymptotically track the desirable trajectories and/or asymptotically rejecting the unexpected disturbances has been much discussed in control engineering. Our study presented here considers adaptive tracking and disturbance rejection for a class of nonlinear systems that can be transformed into a canonical form. Reference signal to be followed and disturbance signal to be rejected are composed of the states generated from an autonomous stable linear time-invariant exosystem. Many classical regulation problems have to have the crucial restriction that the complete information about parameters of the exosystem is known. In our work, however, a prior information of the parameters of exosystem is unnecessary, since the adaptation mechanism is applied to estimate those unknown parameters. Although our proposed compensator is based on nonlinear internal model principle, overall control system structure adopts plug-in manner, i.e. the compensator to achieve tracking and disturbance rejection is placed outside the existed feedback controller. Moreover we show such compensator can be designed by solving the error feedback regulation problem. By the virtue of our method, reconstruction of original feedback loop is not needed when tracking or disturbance rejection problem occur after the first feedback controller has already been designed.

Date received: January 14, 2002

Copyright © 2002 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # cago-25.