文章基本信息

标题：Robust Performance of Sampled-data Adaptive Control. From Simulation to Experimental Results
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作者：Dariusz Horla
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2015
卷号：9
期号：2
页码：3
DOI：10.14313/JAMRIS_2-2015/11
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The paper considers robustness aspects of adap.ve con- trol in applica.on to sampled-data systems with pole- placement controller subject to plant-model mismatch, in the sense of mistuning to model parameters with re- spect to their .true" values. The paper extends the re- sults presented in author's previous work respec.ng com- parison of sampled-data and discrete-.me control sys- tems to experimental results obtained from the control system of a servo drive. Firstly, the adap.ve sampled- data controller is introduced and is applied by means of simula.on, secondly, it is implemented in real-.me con- trol system to extend robust performance issues to real- world control systems. Finally, the regions of robust per- formance are shown on parameter surface, i.e. visualisa- .on of parameters. span for which there is no severe per- formance degrada.on in comparison to the best plant- model matching, as a func.on of sampling interval.
关键词：adap.ve control; robustness; sampled-data ; systems; servo