By Kunihiko Ichikawa
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Additional resources for Control System Design Based on Exact Model Matching Techniques
Example text
H8 K(s) = K~s~+ . . . . . . . . . 16) 58 Define [-kn_2,''',-ko,-hn_ t, "'''-ho]T = [K~," . . 14). d impulse anH define w(s) + Hi, 0, parameter .... response a(u+l)-d f(t)]T (5 . . 20) is represented is u=n-m-l+m w +l . Put (5,21) i=l,2,''',d ~ by ,Hd,u,''',Hd,oJT. 22) system uec~oc ll(s2+~. 2) by 1 ~('t) by v o by qw~(S)W(S)/((ai/~i)s+ vector signal ,0) as - I 4T~(t). g of which [HI,u,''',H1,0," %he ) polynomial the degree Hi(s ) = Hi ,u su +... and define 1 disturSance, Denote by Hi(s), • : s--(d+l) the system is expressed + _gd _ ~(t) g u(t) = _!
I2). Denote the polynomial d-! tree o f /z-n-m-l+m w +d. 15) 1 s d+i" put k(s) = kn_2sn-2 + ..... +k 0 h(s) = hn_Isn-1+hn_2sn-2+ ..... +h8 K(s) = K~s~+ . . . . . . . . . 16) 58 Define [-kn_2,''',-ko,-hn_ t, "'''-ho]T = [K~," . . 14). d impulse anH define w(s) + Hi, 0, parameter .... response a(u+l)-d f(t)]T (5 . . 20) is represented is u=n-m-l+m w +l . Put (5,21) i=l,2,''',d ~ by ,Hd,u,''',Hd,oJT. 22) system uec~oc ll(s2+~. 2) by 1 ~('t) by v o by qw~(S)W(S)/((ai/~i)s+ vector signal ,0) as - I 4T~(t).
2] K. Ichikawa; Cons~zuc~ion of adaptive c0n~z01 syz%em based on an exac~ model ma~ching %echnique,~IC. Trans. 28,18,926/931 (in Japanese),IS84. Chapter 4 The Adaptive control normal way of controllinq a plant is to look for the plant transfer function first an4 then to execute ex- act model matching. parameters It may 5e far could be automatically 5ette~ if controller settled 4urinq the op- era%ion %o the values which would he determined from exact model the matchinq alqorithm, plant while sides, ef%ec starting %he operation of %he plant parameters are should Since exact mo@el matching 5e kept continuously %0 %he current plan% transfer function in %he latter case, exact model ma~ching must 5e pemfomme~ au~omatically reqarded 4ition e Be- plant dynamics may vary during its operation owing %o the environment conditions.