A Robust Discrete Time Adaptive Servo

[+] Author and Article Information
Nader Sadegh

School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332

Robert O. Horowitz

Department of Mechanical Engineering, University of California, Berkeley, Berkeley, Calif. 94720

J. Dyn. Sys., Meas., Control 110(2), 189-196 (Jun 01, 1988) (8 pages) doi:10.1115/1.3152670 History: Received April 01, 1985; Online July 21, 2009


This paper deals with the robustness issues associated with the design of an adaptive control servo in the presence of linear unmodeled plant dynamics. In particular, a design methodology for trajectory following control systems is presented which guarantees the boundness of the tracking error without requiring persistent excitation of the reference input. The tracking error bound is calculated as a function of the reference trajectory, using a-priori knowledge of the step response of the plant. An application of this technique to a positioning servo with an unknown or slowly varying inertia load and high frequency unmodeled resonance modes is included.

Copyright © 1988 by ASME
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