Retrospective-Cost-Based Model Reference Adaptive Control of Nonminimum-Phase Systems

Mohseni, Nima; Bernstein, Dennis S.

doi:10.23919/acc55779.2023.10156011

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2024

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“…Additionally, we show that, with minor modifications, RC‐MRAC can perform disturbance rejection for harmonic disturbances with unknown spectra. The present paper significantly expands on the results in Reference 24. Numerical examples show that, in contrast to Reference 18, RC‐MRAC does not require persistency.…”

Section: Introductionsupporting

confidence: 59%

Retrospective‐cost‐based model reference adaptive control of nonminimum‐phase systems

Mohseni,

Bernstein

2024

Adaptive Control & Signal

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This paper presents a novel approach to model reference adaptive control inspired by the adaptive pole‐placement controller (APPC) of Elliot and based on retrospective cost optimization. Retrospective cost model reference adaptive control (RC‐MRAC) is applicable to nonminimum‐phase (NMP) systems assuming that the NMP zeros are known. Under this assumption, the advantage of RC‐MRAC is a reduced need for persistency. The present paper compares APPC and RC‐MRAC under various levels of persistency in the command for minimum‐phase and NMP systems. It is shown numerically that the model‐following performance of RC‐MRAC is less sensitive to the persistency of the command compared to APPC at the cost of knowledge of the NMP zeros. RC‐MRAC is also shown to be applicable for disturbance rejection under unknown harmonic disturbances.

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Section: Introductionsupporting

confidence: 59%