Abstract
AbstractIn this chapter, we design adaptive command tracking controllers using concepts from linear integral control. Such linear controllers can asymptotically reject constant disturbances and, at the same time, track constant commands with zero steady-state errors. In our attempt to further extend robustness and tracking properties of the linear integral controllers, we will develop and analyze an adaptive augmentation method to combine a baseline linear (Proportional + Integral) state feedback controller with an MRAC system. The adaptive augmentation design approach paves the way to transitioning adaptive controllers into industrial applications where legacy integral controllers are common practice.KeywordsAdaptive AugmentationCommand TrackingUnique Symmetric Positive Definite SolutionTotal Control InputOutput Tracking ErrorThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
