Robust adaptive regulation of linear time-varying systems

2000 ◽  
Vol 45 (7) ◽  
pp. 1301-1311 ◽  
Author(s):  
R. Marino ◽  
P. Tomei
Keyword(s):  
Linear Time ◽  
Time Varying ◽  
Adaptive Regulation ◽  
Time Varying Systems ◽  
Robust Adaptive

Robust Adaptive Controllers for Interconnected Mechanical Systems: Influence of Types of Interconnections on Time-Invariant and Time-Varying Systems

1994 ◽  
Vol 116 (3) ◽  
pp. 456-473 ◽  
Author(s):  
Sunil K. Singh ◽  
Lin Shi
Keyword(s):  
State Space ◽  
High Speed ◽  
Linear Time ◽  
Direct Method ◽  
Time Varying ◽  
Adaptive Controllers ◽  
First Order ◽  
Time Varying Systems ◽  
Robust Adaptive ◽  
Time Invariant

We investigate robust adaptive controller designs for interconnected systems when no exact knowledge about the structure of the nonlinear interconnections between various subsystems is available. In this study, we concentrate on several different types of systems. We deal with both linear time-invariant (LTI) and linear time-varying (LTV) systems with nonlinear interconnections. For LTI systems, we examine the following types of interconnections: • interconnections that are bounded by first order polynomials in state space; • slowly time varying interconnections; • interconnections bounded by higher-order polynomials in state-space together with input channel interconnections. For LTV systems we deal with interconnections bounded by first-order polynomials in state space. We show that the nature of the nonlinear interactions influences the adaptation laws. We use the direct method of Lyapunov for the design of adaptive controllers for tracking in such systems. We investigate issues such as stability, transient performance and steady-state errors, and derive quantitative estimates and analytical bounds for various different adaptive controllers. For time-varying systems, we analyze the effect of the time variations of parameters and interactions and propose a modified adaptive control scheme with better performance. Simulation results are presented to validate our conclusions. We also investigate these results experimentally on a two-link robot manipulator. Experimental results validate theoretical conclusions and demonstrate the usefulness of such robust adaptive controllers for high-speed motions in uncertain systems.

scholarly journals The VIT Transform Approach to Discrete-Time Signals and Linear Time-Varying Systems

Eng ◽  
2021 ◽  
Vol 2 (1) ◽  
pp. 99-125
Author(s):  
Edward W. Kamen
Keyword(s):  
Discrete Time ◽  
Initial Conditions ◽  
Linear Time ◽  
Order Term ◽  
Initial Time ◽  
Time Varying ◽  
Varying Coefficients ◽  
Time Signals ◽  
Time Varying Systems ◽  
Time Varying Coefficients

A transform approach based on a variable initial time (VIT) formulation is developed for discrete-time signals and linear time-varying discrete-time systems or digital filters. The VIT transform is a formal power series in z−1, which converts functions given by linear time-varying difference equations into left polynomial fractions with variable coefficients, and with initial conditions incorporated into the framework. It is shown that the transform satisfies a number of properties that are analogous to those of the ordinary z-transform, and that it is possible to do scaling of z−i by time functions, which results in left-fraction forms for the transform of a large class of functions including sinusoids with general time-varying amplitudes and frequencies. Using the extended right Euclidean algorithm in a skew polynomial ring with time-varying coefficients, it is shown that a sum of left polynomial fractions can be written as a single fraction, which results in linear time-varying recursions for the inverse transform of the combined fraction. The extraction of a first-order term from a given polynomial fraction is carried out in terms of the evaluation of zi at time functions. In the application to linear time-varying systems, it is proved that the VIT transform of the system output is equal to the product of the VIT transform of the input and the VIT transform of the unit-pulse response function. For systems given by a time-varying moving average or an autoregressive model, the transform framework is used to determine the steady-state output response resulting from various signal inputs such as the step and cosine functions.

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