TY - JOUR
T1 - Simplified adaptive control via improved robust positive real conditions
AU - Yaesh, I.
AU - Shaked, U.
N1 - Funding Information:
This work was supported by C&M Maus Chair at Tel Aviv University.
PY - 2006/12
Y1 - 2006/12
N2 - A new method is derived for embedding plants in a robust state-feedback scheme, to achieve strictly positive realness of the resulting augmented plants. A state-feedback gain is derived that guarantees the strictly positive realness of the closed-loop in presence of polytopic type, possibly time-varying, parameter uncertainties in the model that describes the plant. This is achieved by assigning different Lyapunov functions to each of the vertices of the uncertainty polytope. The obtained feedback gain is used to apply existing methods for robust simplified adaptive control on systems with possibly time-varying polytopic uncertainties.
AB - A new method is derived for embedding plants in a robust state-feedback scheme, to achieve strictly positive realness of the resulting augmented plants. A state-feedback gain is derived that guarantees the strictly positive realness of the closed-loop in presence of polytopic type, possibly time-varying, parameter uncertainties in the model that describes the plant. This is achieved by assigning different Lyapunov functions to each of the vertices of the uncertainty polytope. The obtained feedback gain is used to apply existing methods for robust simplified adaptive control on systems with possibly time-varying polytopic uncertainties.
KW - Robust SPR
KW - SAC
KW - Simplified adaptive control
KW - Strictly positive real lemma
UR - http://www.scopus.com/inward/record.url?scp=33750000621&partnerID=8YFLogxK
U2 - 10.1016/j.sysconle.2006.07.001
DO - 10.1016/j.sysconle.2006.07.001
M3 - ???researchoutput.researchoutputtypes.contributiontojournal.article???
AN - SCOPUS:33750000621
SN - 0167-6911
VL - 55
SP - 1033
EP - 1040
JO - Systems and Control Letters
JF - Systems and Control Letters
IS - 12
ER -