TY - JOUR

T1 - Passification-based adaptive control of linear systems

T2 - Robustness issues

AU - Peaucelle, Dimitri

AU - Fradkov, Alexander

AU - Andrievsky, Boris

PY - 2008/8

Y1 - 2008/8

N2 - Passivity is a widely used concept in control theory having led to many significant results. This paper concentrates on one characteristic of passivity, namely passification-based adaptive control. This concept applies to multi-input multi-output systems for which exists a combination of outputs that renders the open-loop system hyper-minimum phase. Under such assumptions, the system may be passified by both high-gain static output feedback and by a particular adaptive control algorithm. This last control law is modified here to guarantee its coefficients to be bounded. The contribution of this paper is to investigate its robustness with respect to parametric uncertainty. Time response characteristics are illustrated on examples including realistic situations with noisy output and saturated input. Theoretical results are formulated as linear matrix inequalities and can hence be readily solved with semi-definite programming solvers.

AB - Passivity is a widely used concept in control theory having led to many significant results. This paper concentrates on one characteristic of passivity, namely passification-based adaptive control. This concept applies to multi-input multi-output systems for which exists a combination of outputs that renders the open-loop system hyper-minimum phase. Under such assumptions, the system may be passified by both high-gain static output feedback and by a particular adaptive control algorithm. This last control law is modified here to guarantee its coefficients to be bounded. The contribution of this paper is to investigate its robustness with respect to parametric uncertainty. Time response characteristics are illustrated on examples including realistic situations with noisy output and saturated input. Theoretical results are formulated as linear matrix inequalities and can hence be readily solved with semi-definite programming solvers.

KW - Adaptive control

KW - LMI

KW - Passivity

KW - Robustness

UR - http://www.scopus.com/inward/record.url?scp=50249157954&partnerID=8YFLogxK

U2 - 10.1002/acs.1009

DO - 10.1002/acs.1009

M3 - Article

AN - SCOPUS:50249157954

VL - 22

SP - 590

EP - 608

JO - International Journal of Adaptive Control and Signal Processing

JF - International Journal of Adaptive Control and Signal Processing

SN - 0890-6327

IS - 6

ER -