Robust Discrete-Time Adaptive Control Scheme for Servo Systems and Its Application

Abstract

This paper proposes a new robust discrete-time adaptive control scheme for servo systems. In order to control the evolution of control input.an idea of controller poles is introduced. The controller is applicable to single-input and single-output discrete-time nonminimum phase plants whose continuous-time transfer functions are not unstable and have no zeros in the finite complex plane. The results of simulation and experiment for a pneumatic servo system show that the idea of controller poles is valid and the proposed control system has a class of robustness to hounded disturbancs and unmodeled dynamics.