Abstract
Abstract The extension to nonlinear systems of adaptive feedforward control (AFC) techniques for harmonic disturbance rejection is an area of ongoing research. For nonlinear and linear systems alike, one of the longstanding open problems concerns the issue of robustness of the adaptive scheme with respect to the sign of the coefficients of the steady-state response of the plant. For linear systems, for instance, a standard assumption entails a positive-realness condition on the plant transfer function in the range of frequency of interest. In this paper, we take a first step towards the definition of a novel scheme for AFC that bears the promise of removing the aforementioned obstruction, without resorting to harsh techniques such as Nussbaum gains. Our attention shall be focused here to presenting a dynamic update law that may be used in combination with an existing AFC scheme in a restrictive class of nonlinear systems. The stability analysis of the closed-loop system is deferred to forthcoming works, while the extension to more general plant models is currently under investigation.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call