Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
A Discrete SAC System with Parallel Feedforward Compensators
Hirofumi OHTSUKAIkuro MIZUMOTOZenta IWAI
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1998 Volume 34 Issue 2 Pages 96-104

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Abstract

Recently, discrete-time Simple Adaptive Control (SAC) methods have been proposed. Unfortunately, there necessarily exists an offset between a plant output and a reference model output, because a PFC (Parallel Feedforward Compensator) is added to the plant in order to assure an almost strict positive realness of the augmented plant that is considered to be a new controlled plant. The above-mentioned offset can be easily reduced by reduction of PFC gain. However, in this case, a design procedure of PFC becomes more complicated. Here, we propose a design method for the discrete-time SAC system, which can remove the above-stated offset, by using parallel feedforward compensators for both of the plant and the reference model.

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