Адаптивная оптимальная робастная стабилизация авторегрессионного объекта со смещенным внешним возмущением

Abstract

This paper addresses the problem of adaptive optimal robust
 control of a discrete-time plant with unknown parameters
 of autoregressive nominal model, unknown upper bound and
 bias of external disturbance, and unknown gains of coprime
 factor perturbations. The control criterion is the worst-case
 steady-state upper bound of the output. Solution of the problem
 is based on an optimal polyhedral estimation of unknown
 non-identifiable parameters with the control criterion treated
 as the identification criterion. A replacement of unknown parameters
 is proposed that modifies the plant model to a model
 without perturbation in control. This transforms the nonconvex
 control criterion to a linear fractional one and thus makes
 possible online computation of optimal estimates.