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Adaptive internal model control: the discrete-time case
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DOI：10.1002/1099-1115(200102)15:1<15::AID-ACS625>3.0.CO;2-I.png)
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This paper considers the design and analysis of a discrete-time H-2 optimal robust adaptive controller based on the internal model control structure. The certainty equivalence principle of adaptive control is used to combine a discrete-time robust adaptive law with a discrete-time H-2 internal model controller to obtain a discrete-time adaptive H-2 internal model control scheme with provable guarantees of stability and robustness. The approach used parallels the earlier results obtained for the continuous-time case. Nevertheless, there are some differences which, together with the widespread use of digital computers for controls applications, justifies a separate exposition. Copyright (C) 2001 John Wiley & Sons, Ltd.
Keyword:
internal model control
discrete time
H-2-optimal control
certainty equivalence principle
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