• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.3
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• pp.513-525
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• 1990

This paper presents Adaptive Robust Servocontrol(ARSC) scheme, which is an explicit(or indirect) pole-assignment adaptive algorithm with the property of "robustness". It guarantees asymptotic regulation and tracking in the presence of finite parameter perturbations of the unknown plant(or process) model. The controller structure is obtained by transforming a robust control theory into an adaptive control version. This controller structure is combined with the model estimation algorithm which includes a dead-zone for bounded noise. It is proved theoretically that this combination of control and identification is globally convergent and stable. It is also shown, through a real-time simulation study, that the desired closed-loop poles of the augmented system can be assigned directly, and that the adjustment mechanism of the scheme tunes the controller parameters according to the assigned closed-loop poles.oop poles.