Self-tuning Control for a Class of Nonlinear Systems with On-line Compensator Adaptation

Abstract

This paper is concerned with adaptive control of discrete-time linear systems having a polynomial input nonlinearity. A new self-tuning control scheme is presented to adaptively implement the suboptimal control law derived in the previous work. By the on-line adaptation of the compensators P(q-1) and R(q-1) the difficulty of cautiously choosing P(q-1) and R(q-1) a priori to ensure the stability of the closed loop system is thus circumvented. A simple locally convergent self-tuning algorithm and a globally convergent improved self-tuning algorithm are given which provide an efficient way to the control of this class of nonlinear systems. Simulation results verify the effectiveness of the proposed algorithm.