A Globally Stable Adaptive Controller for Multivariable Systems,

Abstract

Hermite normal forms of nonsingular transfer matrices play a central role in determining the class of model transfer matrices which the plant can follow. However, due to inherent complexity in specifying the Hermite form in general, it has been argued that adaptive control is practically feasible only for those plants which have diagonal Hermite forms, i.e., which can be decoupled by using state feedback only. The sign definiteness of the high frequency gain matrix KP has been found to be sufficient to generate stable adaptive laws. For 2x2 systems, the knowledge of relative degree of each scalar transfer function has been used in determining the Hermite form. A globally stable adaptive controller has been developed and it has been shown that all 2x2 stably invertible systems can be generically adaptively controlled subject to the definiteness condition on the gain matrix.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1982
Accession Number
ADA120654

Entities

People

  • K. S. Narendra
  • R. P. Singh

Organizations

  • Yale University

Tags

Communities of Interest

  • Air Platforms
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Adaptive Systems
  • Compensation
  • Control Systems
  • Decoupling
  • Equations
  • Feedback
  • Frequency
  • Identities
  • Linear Systems
  • Lyapunov Functions
  • Models
  • Polynomials
  • Rational Functions
  • Signal Generators
  • Systems Science
  • Transfer Functions

Readers

  • Linear Algebra
  • Robotics and Automation.
  • Systems Analysis and Design