Integrated studies on the design of the sampled data adaptive control systems based on the output feedback passivity.

在实际应用中，期望开发一种简单、鲁棒的控制器。自适应控制方案被认为是克服不确定性和提高控制系统鲁棒性的一种方法。然而，大多数自适应方案是针对连续时间系统开发的。由于有几种控制系统是作为采样数据系统处理的，例如化学过程，因此为采样数据系统开发简单且鲁棒的控制策略非常重要。本研究对采样数据系统（包括非线性系统和复杂MIMO系统）进行了基于输出反馈的简单自适应控制设计方案的综合研究和综合，这些系统只有输出信号可用，且方案基本基于输出反馈无源。特别研究了以下主题。1)建立基于输出无源的无观测器离散系统的基于输出反馈的鲁棒自适应控制系统的设计概念。2)并联前馈补偿控制系统设计方案的基础研究。包括多速率系统在内的采样数据系统的自适应输出反馈控制设计。4)所提方法的实验验证

It is desired to develop a simple controller with robustness in practical applications. The adaptive control scheme is considered one of the methods against the uncertainties and to improve the robustness of the control system. However, most adaptive schemes are developed for continuous-time systems. Since there are several control systems which deal with as sampled-data system such as chemical processes, it is important to develop simple and robust control strategies for sampled-data systems.This research was concerned with integrated studies and the synthesis of the design scheme of such simple adaptive controls based on output feedback for sampled-data systems including nonlinear systems and complex MIMO systems, where only the output signal is available and the scheme is basically based on the output feedback passivity. In particular, the following topics were studied.1) Establish design concepts of output feedback-based robust adaptive control systems for discrete-time systems without observers based on the output passivity.2) Basic studies on the design schemes of control systems with a parallel feedforward compensator.3) Adaptive output feedback control design for sampled-data systems including multirate systems.4) Experimental validation of proposed methods