Affiliation:
1. Intelligent Systems and Control Group Federal University of Pelotas Pelotas Brazil
2. Department of Electrical and Computer Engineering University of Michigan Ann Arbor USA
3. Group of Power Electronics and Control Federal University of Santa Maria Santa Maria Brazil
Abstract
SummaryThis work presents the discrete‐time stability analysis of a hybrid robust model reference adaptive controller and proportional‐integral controller (MRAC‐PI) controller using Lyapunov criterion. The control structure merges the classical PI controller with a robust model reference adaptive control, resulting in an adaptive and robust control strategy, where the gains unite both control techniques in a unique structure and it does not require the design of a reference model, being able to track straightforwardly the reference signal. The adaptive gains are updated continuously by a modified gradient algorithm regarding control action, regulation error, and the system output. The stability analysis provides the controller design constraints, while also demonstrate the tendency of regulation error to a residual set, and proves the boundedness of all closed‐loop signals. Furthermore, as the controller is robust to unmodeled dynamics, it is feasible to control partially modeled systems. Simulation results in a real‐world engineering application are presented to corroborate the robustness of this controller and show its fast response in the face of critical exogenous system perturbations.
Funder
Conselho Nacional de Desenvolvimento Científico e Tecnológico
Coordenação de Aperfeiçoamento de Pessoal de Nível Superior
Fundação de Amparo à Pesquisa do Estado do Rio Grande do Sul
Subject
Electrical and Electronic Engineering,Signal Processing,Control and Systems Engineering
Cited by
5 articles.
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