A Simple Adaptive Control using PFC of the Model Following for 2-Inertia System

K. Ohkubo and J. Wang (Japan)


Simple Adaptive Control(SAC), Steady-State Error, Parallel Feedforward Compensator (PFC), 2-Inertia System.


Simple adaptive Control (SAC) methods those are useful for practical implementation have been proposed. In order to satisfy the requirement of almost strictly positive realness (ASPR), a parallel feed forward compensator (PFC) is added to the plant. However, there exist steady-state errors between a reference model output and plant outputs. There fore, we try to propose a plan for the discrete-time SAC system dealing with the steady-state errors by limiting boundary of adaptive gains with a constant feedforward element and adding PFCs to both the plant and the reference model.

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