Abstract
A new method for designing a discrete-time adaptive control system for continuous-time system is presented. Using a new discrete-time model of the continuous-time system, called the limiting-zero model, this method avoids the problem that the non-minimum phase zeros which arise in the case of rapid sampling of the continuous-time systems having the relative degree greater than one.In this paper, first, the motivation and principle of the limiting-zero model of the continuous-time system is discussed. Next, the procedure of constructing the adaptive control system based on the limiting-zero model is presented. Moreover, the structure and the robustness of the control system are clarified. Finally, in order to illustrate the effectiveness of the proposed method, computer simulations and on-line experiments are carried out for a two-axis positioning table driven by DC servomotors. It is shown that the proposed method can be successfully applied.
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