By Kunihiko Ichikawa

**Read Online or Download Control System Design based on Exact Model Matching Techniques (Lecture Notes in Control and Information Sciences) PDF**

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**Additional resources for Control System Design based on Exact Model Matching Techniques (Lecture Notes in Control and Information Sciences)**

**Example text**

Pd(s) is Let r*(s) and p*(s) be any stable m and n deqree polynomials respectively, and rewrite td(s) es follows. qdr*(s) rd(s)p*(s) %d (s) : p"(s) r~(S)Pd(S) . 4) 25 v~s, ~~~precom,~en-lU ~s'i ~l'i+~~sat°r kts) Fig. 2 ! riP'ant h(s) Exact model matching system in frequency domain 26 Lee us exam{ne %iN(=)=~d(S)p*(s)[r*(s)Pd(s)]-1. Since a It* (s)pcl(S) ] -a [rd(s)p~ (s) ]--(nd-md)- (n-m)>_@ i ~:1~(s) must be proper and stable, which we call input dynamics. Now, par~:ion %d(s) as shoOn in Fig.

T. 31) as follows. 47) is nonnega%ive end tends %0 infinity I1~<%)[I ~. The ~ime ra~e only when of change of V is evaluated as V(~(%)) = -2 ~2(%)/[c+QT(%)Q(%)] < 8 Since V decreases monotonically, ~(%) Also, since V decreases monotonically must conuerge %o some zero. 48) is always bounded. and bounded below, V constant and hence V conuerges to is, lim s2(%) = 8. oci%y of is 5ounded. 45). ize with velocity i% izes If ~(t) Q(%), as is nonzero %hen [[Q(t)[[, I~(%)I which wi~h ~(~) with being and hence lim Let us now examine and does will diuerge no% or%hogonalwi~h %he same is the contradiction.

5) w(s). T(s)p~(s) stable, e(t) Also, when w<%) w(%). In %~. the contonues %o be zero, following, e(t)~@ even so that bounded for bounded is if w(t) the is controller is applled to the plan% persistently. 2 Suppression matching. 1 u(s)_I< -~ is effect either but we assume of disturbance. will be dealt with Theorem disturbance in exact model unknown nor here the knowledge The unknown disturbance in context to adaptive control. The control law h(s) k(s) T(s)r~- (s) U(S) + T(S)V~( y ()s ) ) s qw ~(S)rw(S) ....