Abstract
In pneumatic servo systems, the adaptive pole-placement control is applied to improve the control performance. However disturbances are not considered in the conventional design scheme of the adaptive control. Thus, an improved design schemes is proposed for a pneumatic servo system with disturbances. However, since the design scheme of the adaptive control is complicated, much time is required for calculating all kinds of parameters, especially for identifying plant parameters. Therefore, we propose a multirate method for the improved adaptive pole-placement control to solve the above problem. In this design scheme, a controller in equipped with a faculty for elimination the influence of disturbances and an identification-time of plant parameters is chosen integer multiple of the sampling-interval T. The effectiveness of the proposed design scheme is confirmed by experiments using the existent pneumatic servo system.
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