SINGULARITY-FREE STABLE ADAPTIVE CONTROL OF A CLASS OF NONLINEAR DISCRETE-TIME SYSTEMS
Leonid S. Zhiteckij
Int. Centre of Inform. Technologies & Systems Institute of Cybernetics 40, Prospect Akademika Glushkova MSP 03680 Kiev 187 Ukraine E-mail: zls@d310.icyb.kiev.ua
This paper deals with the adaptive control of linearly parameterized discrete-time nonlinear system in the presence of bounded disturbances and unmodeled dynamics. A new adaptive law is presented. No a priori knowledge about the bounds on both the plant parameters and unmodeled uncertainty is required to implement the estimation algorithm. The adaptive scheme is free from singularity. This is achieved through the use of some time-varying adaptation gain. It is established that if the plant model nonlinearity is sector-bounded then the BIBO stability of the closed-loop system will be guaranteed. Simulation results are given to demonstrate the performance of the adaptive controller.
Keywords: Adaptive control; convergence analysis; discrete-time systems; estimation algorithm; nonlinear control systems; parametrization; stability analysis
Session slot T-Fr-A21: Posters of Learning, Stochastic, Fuzzy and Nerural Systems/Area code 3b : Adaptive Control and Tuning

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