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Characteristic model based adaptive controller design and analysis for a class of SISO systems



The design of an adaptive controller and stability analysis of the corresponding closed loop system are discussed for a class of SISO systems based on the characteristic model method. The obtained characteristic model is a second-order slow time-varying linear system with a compress mapping function for the system modeling error. The pole placement method is used to design the controller, and sufficient conditions for the stability of the closed loop system are obtained based on the robust control theory of slow time-varying systems with perturbations. The effectiveness of the proposed method is illustrated by two numerical examples.



本文针对一类仿射非线性连续SISO系统, 通过压缩映射思想构建一个简洁二阶的慢时变差分方程作为其对应原连续系统的特征模型。 同时, 充分考虑特征建模过程中离散截断误差和未建模误差对系统稳定性的影响, 给出了在上述误差满足稳定收敛的条件下基于特征模型的自适应控制设计能够保证原系统镇定的充分条件。 从而将针对原系统的复杂控制设计问题转化成特征模型基础上的极点配置自适应控制问题, 该方法具有较强的工程实现意义。 最后通过仿真给出了不同极点配置方法的性能比较, 验证了所提方法的有效性。

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Correspondence to Yu Kang.

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Huang, J., Kang, Y., Meng, B. et al. Characteristic model based adaptive controller design and analysis for a class of SISO systems. Sci. China Inf. Sci. 59, 052202 (2016).

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  • characteristic model
  • modeling error
  • pole placement
  • perturbation analysis
  • sampling system


  • 特征模型
  • 未建模误差
  • 极点配置
  • 扰动分析
  • 采样系统