Robust sampled-data adaptive control of the Rohrs counterexamples

We revisit the Rohrs counterexamples within the context of sampled-data adaptive control. In particular, retrospective cost adaptive control (RCAC) is applied to the sampled continuous-time plant with unmodeled high-frequency dynamics, which involves nonminimum-phase (NMP) sampling zeros. It is show...

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Bibliographic Details
Main Authors: Sumer, E. D., Bernstein, D. S.
Format: Conference Proceeding
Language:English
Subjects:
Adaptation models
Adaptive control
Closed loop systems
Frequency conversion
Markov processes
Robustness
Transfer functions
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Summary:We revisit the Rohrs counterexamples within the context of sampled-data adaptive control. In particular, retrospective cost adaptive control (RCAC) is applied to the sampled continuous-time plant with unmodeled high-frequency dynamics, which involves nonminimum-phase (NMP) sampling zeros. It is shown that, without knowledge of these NMP zeros, RCAC stabilizes the uncertain plant and asymptotically follows the sinusoidal command.
ISSN:0191-2216
DOI:10.1109/CDC.2012.6427021