Abstract
This paper addresses the problem of adaptive optimal robust
control of a discrete-time plant with unknown parameters
of autoregressive nominal model, unknown upper bound and
bias of external disturbance, and unknown gains of coprime
factor perturbations. The control criterion is the worst-case
steady-state upper bound of the output. Solution of the problem
is based on an optimal polyhedral estimation of unknown
non-identifiable parameters with the control criterion treated
as the identification criterion. A replacement of unknown parameters
is proposed that modifies the plant model to a model
without perturbation in control. This transforms the nonconvex
control criterion to a linear fractional one and thus makes
possible online computation of optimal estimates.
Subject
General Earth and Planetary Sciences,General Energy
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1. Optimal ℓ1-robust tracking for autoregressive plant with unknown nominal model;Proceedings of the Komi Science Centre of the Ural Division of the Russian Academy of Sciences;2023-09-21