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Indirect robust model reference adaptive control for discrete-time system with output uncertainty

机译：不同时间系统的间接鲁棒模型参考自适应控制，输出不确定性

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摘要

For a class of more general discrete-time systems with output uncertainty, the design and analysis of robust indirect model reference adaptive control (MRAC) with normalized adaptive law are investigated. The main work includes three parts. Firstly, it is shown that the constructed parameter estimation algorithm not only possesses the same properties as those of traditional estimation algorithms, but also it avoids the possibility of division by zero. Secondly, by establishing a relationship between the plant parameter estimate and controller parameter estimate, some similar properties of the latter are also established. Thirdly, by using the relationship between the normalizing signal and all the signals of the closed-loop system, and some important mathematical tools on discrete-time systems, a systematic stability and robustness analysis approach to the discrete indirect robust MRAC scheme is developed rigorously.
机译：对于具有输出不确定性的一类更通用的离散系统，研究了具有规范化自适应定律的鲁棒间接模型参考自适应控制（MRAC）的设计和分析。主要工作包括三个部分。首先，示出了构造的参数估计算法不仅具有与传统估计算法相同的属性，而且还避免了分割零的可能性。其次，通过建立工厂参数估计和控制器参数估计之间的关系，还建立了后者的一些类似的性质。第三，通过使用归一化信号与闭环系统的所有信号之间的关系，以及在离散时间系统上的一些重要数学工具，对离散间接鲁棒MRAC方案的系统稳定性和鲁棒性分析方法进行严格开发。

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