We discuss an extension to the adaptive control strategy presented in di Bernardo et al. (2013) able to counter eventual instabilities due to disturbances at the input of an otherwise L2 stable closed-loop system. These disturbances are due to the presence of affine terms in the plant and reference model. The existence of a common Lyapunov function for the linear part of the PWA reference model is used to prove global convergence of the error system, even in the presence of sliding solutions, as well as boundedness of all the adaptive gains.
Extended hybrid model reference adaptive control of piecewise affine systems / DI BERNARDO, Mario; Montanaro, Umberto; Ortega, Romeo; Santini, Stefania. - In: NONLINEAR ANALYSIS. - ISSN 1751-570X. - 21:8(2016), pp. 11-21. [10.1016/j.nahs.2015.12.003]
Extended hybrid model reference adaptive control of piecewise affine systems
DI BERNARDO, MARIO;MONTANARO, Umberto;SANTINI, STEFANIA
2016
Abstract
We discuss an extension to the adaptive control strategy presented in di Bernardo et al. (2013) able to counter eventual instabilities due to disturbances at the input of an otherwise L2 stable closed-loop system. These disturbances are due to the presence of affine terms in the plant and reference model. The existence of a common Lyapunov function for the linear part of the PWA reference model is used to prove global convergence of the error system, even in the presence of sliding solutions, as well as boundedness of all the adaptive gains.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
