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Robustness of adaptive discrete-time LQG control for first-order systems

Królikowski A., Horla D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2010

Vol. 58, nr 1

89-97

The discrete-time adaptive LQG control of first-order systems is considered from robustness point of view. Both stability and performance robustness are analyzed for different control system structures. A case of amplitude-constrained control is presented, and application of certainty equivalence for self-tuning implementation is also discussed.

A method to design robust adaptive controller of non-linear first order system

Nguyen X. Q., Do K. D.

Journal of Applied Computer Science

1999

Vol. 7, nr 2

57-65

This paper considers a problem of designing an adaptive controller for a first order nonlinear system x'=-DTf(x)-bu, subject to bounded input and output disturbances. Unmodelled dynamics are also considered in the stability analysis and a dead zone in the parameters update law is used. The dead zone size does not depend neither on the disturbances nor on the magnitude of the unmodelled dynamics. In addition, the disturbances and parameter upperbounds are not assumed to be a priori known.