On a configuration of the improved robust adaptive control systems

응답특성이 개선된 강인한 적응제어계의 구성에 관한 연구

This paper proposea a new adaptive algorithm to improve the performance fo a robust adaptive control system. This adaptive algorithm counteracts the effects of disturbances and makes the time derivative of Lyapunov function non-positive, $V{\leq}0$. As a result, the output error approaches zero as $t\;\rightarrow\;\infty$ not only in the presence of bounded disturbances, but also in the ideal case. The effectiveness of this proposed algorithm is demonstrated by the stability analysis and simulation results.