I. Mizumoto, D. Hirata, M. Kumon, and Z. Iwai (Japan)
Output reguration, Adaptive output feedback, adaptive in ternal model, backstepping
This paper deals with the adaptive regulation problem for unknown controlled systems with unknown exosystems. The adaptive output feedback controller with an adaptive internal model is proposed for single input/single output linear minimum phase systems. The proposed method is based on the ASPR based adaptive output feedback control and the controller is designed based on an expanded back stepping strategy of only one step with a parallel feedfor ward compensator (PFC). The obtained controller structure is relatively simple even if the system has a higher order and a higher order relative degree.
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