Experimental implementation and validation of a novel minimal control synthesis adaptive controller for continuous bimodal piecewise affine systems

Bernardo, Mario di; Velasco, Carlos Ildefonso Hoyos; Montanaro, Umberto; Santini, Stefania

doi:10.1016/j.conengprac.2011.11.003

Cited by 17 publications

(15 citation statements)

References 23 publications

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“…Consider system (1) with δ ∈ C∩L ∞ and the reference model (3). Let the adaptive control action be given by (5)- (9), with the integral part of the adaptive gains in (8) completed with the f -term in (17) computed in accordance with the σ-modification strategy (22), while the dynamics of x I in (7) are completed with the locking strategy (27). Then, all the closed-loop signals are bounded and, in particular, x e is globally uniformly ultimately bounded, i.e., there exists T (dependent on x e (t 0 ) and µ) and a KL-class function ξ :…”

Section: Mcsi With σ-Modificationmentioning

confidence: 99%

“…For example, multi-input continuous-time systems can be controlled via the decentralized MCS [22]; rapidly time-varying disturbances can be suppressed by the Extended MCS (EMCS), which embeds an additional switching action [23]; the Integral MCS (MCSI) [24] includes an integral control action where the integral gain is adaptive itself, and it is used to further improve tracking performance. Recently, MCS control schemes for piecewise affine systems have been proposed in [25,26,27]. The MCS algorithm for discrete-time systems has been presented in [28,29], and extended to piecewise linear systems in [30].…”

Section: Introductionmentioning

confidence: 99%

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Integral MRAC with Minimal Controller Synthesis and bounded adaptive gains: The continuous-time case

Montanaro

Olm

2016

Journal of the Franklin Institute

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Model reference adaptive controllers designed via the Minimal Control Synthesis (MCS) approach are a viable solution to control plants affected by parameter uncertainty, unmodelled dynamics, and disturbances. Despite its effectiveness to impose the required reference dynamics, an apparent drift of the adaptive gains, which can eventually lead to closed-loop instability or alter tracking performance, may occasionally be induced by external disturbances. This problem has been recently addressed for this class of adaptive algorithms in the discrete-time case and for square-integrable perturbations by using a parameter projection strategy [1]. In this paper we tackle systematically this issue for MCS continuous-time adaptive systems with integral action by enhancing the adaptive mechanism not only with a parameter projection method, but also embedding a s-modification strategy. The former is used to preserve convergence to zero of the tracking error when the disturbance is bounded and L2, while the latter guarantees global uniform ultimate boundedness under continuous L8 disturbances. In both cases, the proposed control schemes ensure boundedness of all the closed-loop signals. The strategies are numerically validated by considering systems subject to different kinds of disturbances. In addition, an electrical power circuit is used to show the applicability of the algorithms to engineering problems requiring a precise tracking of a reference profile over a long time range despite disturbances, unmodelled dynamics, and parameter uncertainty.Postprint (author's final draft

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Section: Mcsi With σ-Modificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Integral MRAC with Minimal Controller Synthesis and bounded adaptive gains: The continuous-time case

Montanaro

Olm

2016

Journal of the Franklin Institute

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“…See, for example, [13], [14], [15], [16] and [17], among others. In this paper we report the successful use of the MCS adaptive algorithm, in its discrete-time version [9], to control the output voltage of a full-bridge buck inverter.…”

Section: Introductionmentioning

confidence: 98%

Model reference adaptive control of a full-bridge buck inverter with minimal controller synthesis

Salvi

Santini

Biel

et al. 2013

52nd IEEE Conference on Decision and Control

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The rejection of the undesirable effects of sudden load changes undergone by power inverters requires control techniques able to recover regular operation with a low tran sient error, in a short number of periods and being robust to unmodelled dynamics and parametric uncertainties. The possibilities are explored in this paper of controlling a full bridge buck inverter via the discrete-time version of a model reference adaptive algorithm with minimal controller synthesis recently proposed by some of the authors. Besides confirming the theoretically predicted stability and robustness properties in the face of large load jumps, numerical results show that acceptable performance is still guaranteed when the control signal is injected through a PWM generator switching at a realistic frequency.

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“…We show that, even in the presence of possible sliding mode trajectories, the origin of the closed-loop error system is rendered asymptotically stable by the extended strategy presented in this paper. A preliminary version of the algorithm suitable to control bimodal piecewise affine system can be found in [7], [8], while experimental validation results are reported in [9]. A possible extension to discrete-time piecewise-affine (PWA) plants can be found in [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Extended hybrid model reference adaptive control of piecewise affine systems

Bernardo

Montanaro

Ortega

et al. 2016

Nonlinear Analysis: Hybrid Systems

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We discuss an extension to the adaptive control strategy presented in di Bernardo et al. (2013) able to counter eventual instabilities due to disturbances at the input of an otherwise L2 stable closed-loop system. These disturbances are due to the presence of affine terms in the plant and reference model. The existence of a common Lyapunov function for the linear part of the PWA reference model is used to prove global convergence of the error system, even in the presence of sliding solutions, as well as boundedness of all the adaptive gains

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Experimental implementation and validation of a novel minimal control synthesis adaptive controller for continuous bimodal piecewise affine systems

Cited by 17 publications

References 23 publications

Integral MRAC with Minimal Controller Synthesis and bounded adaptive gains: The continuous-time case

Integral MRAC with Minimal Controller Synthesis and bounded adaptive gains: The continuous-time case

Model reference adaptive control of a full-bridge buck inverter with minimal controller synthesis

Extended hybrid model reference adaptive control of piecewise affine systems

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