Robust Design of Model Reference Adaptive Control System Including Fixed Compensator

Abstract

This paper presents a design method of model reference robust adaptive control systems (M RRACS) for a single-input single-output(SISO) linear time-invariant continuous-time plant in the presence of bounded unknown deterministic disturbances. The proposed adaptive control system consists of two feedback loops: one performs the model-matching adaptively, and the other includes a non-adaptive error feedback controller which can compensate the disturbances, uncertainty in initial condition of the system and unexactness in the plant model. This error feedback controller is designed based on H ∞ -optimal theory, so it is not necessary to know the structure of disturbances a prior . The aim of the proposed control structure is realization of harmonizing the adaptive control to the robust control.