Adaptive Output Feedback based Output Tracking Control with Adaptive Parallel Feedforward Compensator

Abstract

Abstract This paper deals with an almost strictly positive real (ASPR) based adaptive output tracking control system design problem. A design scheme of adaptive output feedback based output tracking control system with an adaptively adjusting parallel feedforward compensator is proposed. For non-ASPR system, in order to guarantee the stability of the designed adaptive control system, a parallel feedforward compensator (PFC) is introduced and is adaptively adjusted for remaining the ASPR-ness of the resulting augmented system. Furthermore, an adaptive NN feedforward control is added to attain the output tracking. The stability of the resulting control system is analyzed theoretically and the effectiveness of the proposed method will be confirmed through numerical simulations.