Discrete-Time Adaptive Control for Continuous-Time Systems using 2-Delay Limiting-Zero Model

Authors:	Mizuno Naoki, Nagoya Institute of Technology, Japan Sato Akira, Yokogawa Electric Corporation, Japan
Topic:	1.2 Adaptive and Learning Systems
Session:	Adaptive Control of Linear Systems
Keywords:	adaptive control, discrete-time control, continuous time system, 2-delay input model, limiting zero, non-minimum phase system

Abstract

A new method for designing a discrete-time adaptive control system for continuous-time system is presented. Using a new discrete-time model of the continuous-time system, called the 2-delay limiting-zero model, this method avoids the problem that the non-minimum phase zeros which arise in the case of rapid sampling of the continuous-time systems having the relative degree greater than one. In this paper, first, the motivation and principle of the 2-delay limiting-zero model of the continuous-time system is discussed. Next, the procedure of constructing the adaptive control system based on the 2-delay limiting-zero model is presented. Moreover, in order to illustrate the effectiveness of the proposed method, computer simulations are carried out for a detailed non-linear model of the electro-hydraulic servo system.