Paper discusses stability of digital model-reference adaptive control (MRAC) of robotic system or plant that operates at discrete time steps. Command-generator tracker (CGT) concept, originally proposed for continuous-time systems, is applied in discrete-time setting, enabling relaxation of some restrictive assumptions that guarantee stability of system controlled according to resulting algorithm. Likely applications include systems in which sensors and actuators not placed together.


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    Title :

    Discrete-Time Model-Reference Adaptive Control


    Contributors:

    Published in:

    Publication date :

    1989-03-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




    Robust Design of Discrete Time Model Reference Adaptive Control Systems

    Suzuki, T. / Machii, T. | British Library Online Contents | 1993





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    Levin, Jason / Gadient, Ross / Lavretsky, Eugene | AIAA | 2010