标题：Modified direct adaptive control with filters
作者：Zhang Cheng-jin; Cheng Jin-lu
作者机构：[Zhang, CJ; Cheng, JL]Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China.
会议名称：16th Chinese Control and Decision Conference
会议日期：MAY 29-JUN 01, 2004
来源：Proceedings of 2004 Chinese Control and Decision Conference
关键词：adaptive control; filter; robust stability
摘要：An easy-to-implement adaptive controller based on direct model reference approach is presented by adding filters to object input and output. The controller parameters are generated by using reference inputs, filtered outputs of control inputs and object outputs, and tracking errors. This modified structure of the controller eliminates major limitation of existing direct adaptive controllers, strictly positive real condition on the object transfer function. The performance of the controller has been tested using simulation studies. The simulation results show that the modified direct adaptive control scheme is stable and robust, on parametric uncertainties and external disturbances, and has better performance than the existing direct adaptive controllers.