Direct adaptive pole placement control with input magnitude and rate constraints: an analysis of its input matching property

Abstract

This paper analyzes a direct adaptive pole placement control for linear stable minimum-phase systems with magnitude and rate constraints. The key feature is the derivation of a governing equation relating the prediction error to the input discrepancy between the adaptive control and corresponding non-adaptive one, independent of how parameter estimates were obtained. With the governing equation, one is able to establish the matching property of the adaptive constrained control, i.e., asymptotic convergence to zero of the input discrepancy.