A Robust Model Reference Adaptive Control with a Modified $\sigma$-modification algorithm

새로운 $\sigma$-변형 알고리즘을 사용한 강인한 기준모델 적응제어

This paper proposes a new adaptation algorithm with which a model reference adaptive control can give a local boundedness of the tracking error applied to a continuous-time linear time-invariant single-input single-output plant whose reduced-order model is of relative degree 1 and whose unmodeled dynamics may be represented in a sigular perturbation form. With the addition of an offset term and an extra adaptation structure, this algorithm is shown to have a robustness property in the sense that this gives zero residual tracking errors when the unmodeled dynamics are disappeared.