A model reference robust control with unknown high‐frequency gain sign

Abstract

SUMMARYIn this paper, we discuss the model reference robust control (MRRC) for plants with unknown high-frequency gain sign. Based on an appropriate monitoring function, a switching scheme is proposed so that after a finite number of switching, for plants with relative degree one, the tracking error converges to zero exponentially, while for plants with relative degree greater than one, it converges exponentially to a residual set that can be made arbitrarily small by properly choosing some design parameters.

Robust model reference tracking for uncertain second‐order nonlinear systems with application to robot manipulator

“…Robust control can guarantee the expected system performance for uncertain systems and it has attracted great attention. 1,2 In the past few decades, robust control theory for linear systems has evolved into a mature branch. [3][4][5][6][7][8] However, there still exist left some open robust control problems for nonlinear systems.…”

“…As a physical phenomenon, parameter uncertainties are often encountered in practical applications due to the modeling inaccuracies and parameter changes. Robust control can guarantee the expected system performance for uncertain systems and it has attracted great attention 1,2 . In the past few decades, robust control theory for linear systems has evolved into a mature branch 3‐8 .…”