NDLI: Discrete-time adaptive control of feedback linearizable nonlinear systems

Content Provider	IEEE Xplore Digital Library
Author	Jagannathan, S.
Copyright Year	1996
Description	Author affiliation: Autom. Anal. Corp., Peoria, IL, USA (Jagannathan, S.)
Abstract	For a class of multi-input multi-output (MIMO) discrete-time nonlinear systems, an adaptive controller or self tuning regulator (STR) which feedback linearizes the system is presented. The structure of the adaptive controller is derived using a filtered error notions and passivity approach. A uniform ultimate boundedness of the closed-loop system is given in the sense of Lyapunov. The notions of discrete-time passive STR a dissipative STR are defined and used with persistency of excitation condition to show the boundedness of STR parameter estimates. In addition, new online tuning algorithms for discrete-time systems are derived, which guarantee tracking as well as bounded STR parameters in nonideal situations so that persistency of excitation on the input signals (PE) is not needed. The notion of state strict passivity of STR is defined and used to show the input-output boundedness of the closed-loop system in the presence of additional unknown bounded disturbances.
Starting Page	4747
Ending Page	4752
File Size	542006
Page Count	6
File Format	PDF
ISBN	0780335902
ISSN	01912216
DOI	10.1109/CDC.1996.577645
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-12-13
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Programmable control MIMO Nonlinear systems Adaptive systems Linear feedback control systems Nonlinear control systems Control systems Regulators Adaptive filters
Content Type	Text
Resource Type	Article

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