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REFERENCES
[1] E. J. Davison, The robust control of a servomechanism problem
for linear time-invariant multivariable systems, IEEE Trans. Automat.
Contr., vol. 35, no. 2, pp. 131140, 1990.
[2] C. A. Desoer and Y. T. Wang, Linear time-invariant robust servomechanism problem: A self-contained exposition, Contr. Dynamic Syst., vol.
16, pp. 81129, 1980.
[3] F. D. Priscoli, Robust tracking for polynomial plants, in Proc. European Contr. Conf., June 1993, pp. 369373.
[4] B. A. Francis, The linear multivariable regulator problem, SIAM J.
Contr. Optimization, vol. 15, pp. 486505, 1977.
[5] B. A. Francis and W. Murray Wonham, The internal model principle
of control theory, Automatica, vol. 12, pp. 457465, 1976.
[6] J. Huang and C.-F. Lin, On a robust nonlinear servomechanism
problem, IEEE Trans. Automat. Contr., pp. 15101513, 1994; also
in Proc. 30th Conf. Decision Contr., Briton, England, Dec. 1991, pp.
25292530.
, Internal model principle and robust control of nonlinear sys[7]
tems, in Proc. 32nd Conf. Decision Contr., Dec. 1993, pp. 15011506.
[8] J. Huang, On the minimal robust servo-regulator for nonlinear systems, Syst. Contr. Lett., vol. 26, pp. 313320, 1995.
[9] J. Huang and W. J. Rugh, Stabilization on zero-error manifolds and
the nonlinear servomechanism problem, IEEE Trans. Automat. Contr.,
pp. 10091013, July 1992.
[10] W. Kang, P. K. De, and A. Isidori, Flight control in a windshear via
nonlinear h methods, in Proc. IEEE Contr. Decision Conf., 1992,
pp. 11351142.
[11] C. I. Byrnes, F. D. Priscoli, A. Isidori, and W. Kang, Structurally stable
output regulation of nonlinear systems, preprint.
[12] E. G. Albrekht, On the optimal stabilization of nonlinear systems, J.
Appl. Math. Mech., vol. 25, pp. 12541266, 1962.
AbstractThe variable structure model-reference adaptive control (VSMRAC) redesign and stability analysis, presented earlier for the case
2, is generalized to the case of
of plants with relative degree n3
1. This paper presents a complete stability analysis in
arbitrary n3
the general case. The redesign is based on the explicit consideration of
input disturbances which may include the disturbance originated by the
uncertainty of the plant high-frequency gain. This leads to a considerably
simpler and less restrictive stability analysis as well as to a systematic
controller design for external disturbance rejection. The overall error
system is globally exponentially stable with respect to a small residual
set. Robustness to unmodeled dynamics is also discussed.
Index Terms Disturbance rejection, modal reference adaptive control, output feedback, robustness, stability, uncertain systems, variable
structure systems.
I. INTRODUCTION
In this paper, we consider the class of variable structure (VS) model
reference adaptive controllers proposed in [7], [8], and [10], which
only require input/output measurements to be implemented, referred
to as I/O VS-MRAC. Adaptation is achieved through signal synthesis,
instead of parameter adjustment. For simplicity we will omit the
acronym I/O from now on. The acronym MRAC will denote the
usual parameter adaptive model reference schemes.
The main interest in the VS-MRAC relies on its remarkable stability, disturbance rejection, and performance robustness properties, as
compared to parameter adaptive and robust linear controllers [7], [8],
[10]. Recent related works have also considered robustness issues
and the extension to multivariable plants [1], [2], [18]. Successful
full-scale experimental implementations of the VS-MRAC include
underwater vehicle control and robot manipulator control [3], [12].
The stability analysis for the case of relative degree n3 = 1 is rather
simple [10]; however, it becomes much more involved for n3 2
(see [8] for n3 = 2).
Based on the key observation that a plant with known highfrequency gain (HFG) is much simpler to analyze, a redesign of the
VS-MRAC was proposed in [11]. The resulting stability analysis is
less complicated than in previous works. Also, some restrictive assumptions made in earlier works [8] were removed. Details, however,
were presented only for the case n3 = 2.
This paper presents a complete stability analysis in the general
case including external disturbances. The extension to plants with
unmodeled dynamics is also discussed.
II. PRELIMINARIES
Consider an unknown single-input/single-output linear time inManuscript received January 21, 1994; revised November 22, 1994,
September 30, 1995, and May 30, 1996. This work was supported in part by
the Brazilian Research Council (CNPq).
L. Hsu and F. Lizarralde are with the Department of Electrical Engineering,
COPPE/Federal University of Rio de Janeiro, CP 68504, 21945/970 Rio de
Janeiro, Brazil.
A. D. de Araujo is with the Department of Electrical Engineering, UFRN,
59072/970 Natal, Brazil.
Publisher Item Identifier S 0018-9286(97)02037-0.
THE ALGORITHMS
387
TABLE I
MRAC
FOR
AND
VS-MRAC
variant plant with a strictly proper rational transfer function given by1
W (s) = Kp Np (s)=Dp (s), with input u and output y, and a model
reference having input r and output ym characterized by the rational
transfer function M (s) = Km Nm (s)=Dm (s).
The objective of model following is to find a control law u(t)
such that the output error e0 := y 0 ym tends asymptotically to
some small residual interval for arbitrary initial conditions and an
arbitrary piecewise continuous uniformly bounded reference signal
r(t). The usual assumptions for MRAC are made [15, p. 183]. An
input disturbance d(t) is also included. Such a disturbance accounts
for the uncertainty of the HFG and for uniformly bounded external
disturbances.
A. Notation
H (s) 3 u
(=
L.
388
( )=
+1
e.g., Fi i s
i s
. With sufficiently small i , they give an
approximation of the equivalent control signals Ui eq [17].
In the MRAC design, the control is parameterized as u !T !
1 ; 1 1 1 ; 2n01 (see Table I); !3 and 23n are the
2n r, where !T
matching parameters, i.e., with u u3 !3T ! 23n r, the closedloop transfer function matches M s exactly, i.e., y M s r. Note
=23n Kp =Km .
that 23n Km =Kp . We also define k3
To account for the available a priori knowledge we introduce
nom
U nom !nomT ! unom 2nom
n r U
( )
=[
]
= =
()
=1
+
= ()
=
where ! ; n ; and k
are nominal values for !3 ; 23n ; and
3
k ; respectively. Then, the uncertainty upper bounds j and are
; 1 1 1 ; n)
defined as (j
nom
j
nom
2
=1
nom
j3 0 j
nom
; j(k3 0 k )=k j:
nom
nom
+1
N (s)
y = Kpnom p [u + du ]
Dp (s)
du =
=
^
1k u = u:
K
(2)
()
()
()
nom
nom
where
U
()
()
( ) = ( ) ( )= ( ) ( )
nom
nom
nom
8t 0 : sup
ju(t)j K! sup
k!(t)k + K
t
t
( )
()
(6)
x_ e
= Ac xe + k
nom
"0 = hcT xe :
(7)
Wd (s) = 1 0 G^ 1 (s)
(8)
^ = [^ ^ ]
^ ( ) = ^ ( + 3)
^
= +
^
=
=
= (^ + ^ )
U = Ud + UN
(9)
1
3
Ud = (U 0 U ) +
0 n r 0 Wd de : (10)
k
=1
nom
This section considers the problem of redesign and stability analysis of the VS-MRAC (Fig. 1), for a plant (2) with known HFG
Kpnom , under the action of a general input disturbance
(4)
nom
2
nom
(3)
= U^ 0 U + (1=k ) 0 n r 0 Wd d
(5)
d , and W d (s) = hcT (sI 0 Ac )0 b0
with Wd (s) = [k
M (s)]0 W
is the closed-loop transfer function from d to e with control u = u
^.
Since there exists U 3 = !3T ! such that u3 = U 3 + 3n r 0 Wd de
=1
()
^=^
()=
red
()
^= ^+
_ = Ac e + k bc(0UN 0 U )
e = hcT e
I/O form: e = k
M (s)[0UN 0 U ]
pnom
()
() ( )
State-Space form: e
(1)
=
1
( )
;N
(11)
(12)
(13)
01[UN ]
uN = (F1;N 0 1)F10;N1 LN
i01
1
01
ei =
Lj;i01 Fj0+1
;i ["j ] = Li01 Fi [e;i01 + "i01 ]
(14)
(15)
j =1
(16)
x0F L (t)
KF L e0a
x0F L (0) :
z = (z ) ; "N ; e
T
(z )T = xTe ; "1 ; "2 ; 1 1 1 ; "N 01 ; x0F L
:
0
3 (U )
and fN
F 0;N 3 Ud
1
"0 = k3 ML
"1 = L01
0U 0 L0 u3 + sL0 Wd U
0
0 U1 0 F 01 u3
(24)
O()
sWd
+
U + 01 :
FL 1
(25)
(17)
O()
8t 0 :
389
(18)
0 1( 0))
(19)
(20)
and
(21)
(22)
where
(23)
1
~ nom 0 (u 0 U nom ) 0 Wd 3 de
fi F10;i1 Li0+1
;N 3 U
0
1
nom
01
fN F1;N 3 U~
0 23n 0 2nom
n r 0 Wd 3 de
(26)
(27)
(28)
(29)
390
one easily concludes that (26) and (27) are satisfied, modulo expo;111;N 0 )
nentially decaying terms if2 (i
=0
1
1
nom
(30)
(31)
^()
( )
EXP
det( + 3) = 0
(0 ]
1 :=
:=
=0
1
fi = F^i0 Li0 ;N j1
uj +
Li0 ;N 1u + ci d^ei
fN = F^N0 j1
uj + n jrj + cN d^eN (t) + 0 de
1
1
+1
1
+1
^ =1 ^
nom
(32)
(33)
k
where F0
; Fi01
for i
; 1 1 1 ; N ; the posis+
tive constants kF i ;
F i can be precalculated from F10;i1 ci=0;111;N
can be calculated from (28) and (29) and the uncertainty bounds;
dei
pi;k j, with pi;k being the poles of
kj
s+
de
i
0
1
Li+1;N 0 G1 . Note that either (31) or (33) implies that (6) is
satisfied.
1
1
r. ChoosExample: Consider y
s(s01) u and ym
(s+1)(s+2)
0
4
gf
we have G1 s
.
Choosing
L
s
, it is
ing
s+1
and
1
: are possible choices since
easy to verify that c1
c1
1 e0
t L01 fL01 0 G1 g or L01 fG1 g (L01 denotes the
inverse Laplace transform). Of course, in general, G1 is not known,
then some uncertainty bound for u [see below (8)] has to be used
to determine ci and
i .
= 1
; = min Re( )
(1 ^ )
=
=
^ ( )=
3= =1
=5
= 09
^
(1 ^ )
= +1
V. SIMULATION RESULTS
This section presents an example which highlights the performance
of the VS-MRAC. The actual system is
[0 0 2]
=0
()
0s
= se 0 1 [u + d]
=3
(0 3 ) =
=1
= 0 05
2 See
(b)
^ =
(a)
(0 1 )
= 3 +4
0 06
391
(a)
(34)
where Li (s) = s + i (i > 0); d(t) is LI, and (t) and (t) are
absolutely continuous (8t). If u = 0f (t)sgn("i ), where f is LI and
f (t) jd(t)j 8t, then the signals "i (t) and e^i (t) := "i (t) 0 (t)
are bounded by
(b)
(solid line)
for
m(t) > 0; m
(t) > sup j (t)j;
t
8t:
(36)
APPENDEXES
Then, if m
(t0 ) = e^i (t0 ) for any t0 0, one concludes that
"i (t0 ) > 0 since, from (36), m
(t0 ) > supt0 j (t0 )j; 8t0 0.
d [m
0 e^i ] 0 (t = t0 ). Similarly,
Therefore, under these conditions dt
d [m
(t0 ) = e^i (t0 ) one obtains dt
0 e^i ] 0 (t = t0 ).
if 0m
U^
Thus using the Comparison Lemma in [6, Th. 7], we conclude that
^ + G
^ 1 u) are
The key formulas needed to derive U 3 = (U
those given in [16, pp. 105 and 106] for the transfer functions
G31 (s); G32 (s); G^ 1 (s); and G^ 2 (s), giving U 3 = G31 (s)u + G32 (s)y
N (s)
^ = G
^ 1 (s)u +
(which matches W (s) = Kp D (s) to M (s)) and U
(
s
)
N
^ (s) = Kpnom
G^ 2 (s)y (which matches W
to M (s)).
D (s)
B. Auxiliary Lemmas
jW 3 d(t)j c s +
3 d(t)
jz(t) 0 z (t)j c jd^(t) 0 d^(t) j; d^ = s +
d
jz(t)j c d^(t) + exp
1
1
1
(37)
(38)
(39)
where z 0 ; d^0 ; and exp depend on the initial conditions and decay
exponentially to zero with rate
0 (for a proof see [13]).
392
C. Proof of Theorem 1
Proof: By Lemma 1, "0 (11), as well as the state xe , converge
to zero, at least exponentially, if the signal f0 satisfies (18). Note
that the transient part of L01 is represented by (t), which is thus
bounded by EXP0 . Consequently, one concludes j"0 (t)j EXP0 .
From (16) one can write 0i = Hi (s)"0 = hi (t) 3 "0 (t) + 00i (t).
Since j00i j EXP0 and hi (t) 3 "0 (t) EXP0 , then j0i j EXP0 .
Now, for i = 1, since e1 0, (12) results in j"1 (t)j EXP0 from
Lemma 2. With similar argument, we recursively conclude from (12),
(15), and Lemma 2 that jei (t)j EXP0 and j"i (t)j EXP0 (i =
2; 1 1 1 ; N 0 1).
Now consider "N [see (13)]. Note that, from (6) and (23), M and
Mred can be chosen so that supt jUN (t)j C (t). Since e;N 01 and
"N 01 are bounded by EXP0 , so is eN , i.e., jeN (t)j EXP0 .
From (14) one has
(40)
O( )
(42)
ke(t)k Ke C (t) + EXP; and je0 (t)j K0 C (t) + EXP
C1 (t) K1 C (t) + K2 kz (0)k + Km
0
C (t) Kred + K4 kz (0)k :
1 0 K3
(43)
(44)
(45)
! = !m +
e,
(46)
(47)
(48)
(49)
(50)
(51)
Equations (50) and (51) are obtained from (48) and (49) as follows:
for < K501 , there exists T1 > 0 such that = max[ K5 +
K6 e0aT ; Kz e0a T ] < 1. Then, the simple linear recursive inequalities (50) and (51) hold and easily lead to the conclusion that, for
small enough, the error system is globally exponentially stable with
respect to a residual set of order .
REFERENCES
[1] C. J. Chien, A. C. Wu, L. C. Fu, and K. C. Sun, A robust model
reference using VS design: The general case for multivariable plants,
in Proc. Amer. Contr. Conf., Chicago, IL, 1992, pp. 27302734.
[2] R. R. Costa and L. Hsu, Robustness of VS-MRAC with respect to
unmodeled dynamics and external disturbance, Int. J. Adaptive Contr.
Signal Process., vol. 6, no. 1, pp. 1933, 1992.
[3] J. P. V. S. Cunha, R. R. Costa, and L. Hsu, Design of a new high
performance VS position control of ROVs, IEEE J. Oceanic Eng.,
vol. 20, no. 1, pp. 4255, 1995.
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stability in MRAC, in Proc. IEEE Conf. Dec. Contr., Brighton, 1991,
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Properties. New York: Academic, 1975.
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393
I. INTRODUCTION
[7] L. Hsu, Variable structure model reference adaptive control using only
I/O measurement: General case, IEEE Trans. Automat. Contr., vol. 35,
no. 11, pp. 12381243, 1990.
[8] L. Hsu, A. D. Araujo, and R. R. Costa, Analysis and design of I/O based
variable structure adaptive control, IEEE Trans. Automat. Contr., vol.
39, no. 1, pp. 421, 1994.
[9] L. Hsu, A. D. Araujo, and F. Lizarralde, New results on VS-MRAC:
Design and stability analysis, in Proc. Amer. Contr. Conf., San Francisco, 1993, pp. 10911095.
[10] L. Hsu and R. R. Costa, Variable structure model reference adaptive
control using only input and output measurement: Part I, Int. J. Contr.,
vol. 49, no. 2, pp. 399416, 1989.
[11] L. Hsu and F. Lizarralde, Redesign and stability analysis of VS-MRAC
systems, in Proc. Amer. Contr. Conf., Chicago, 1992, pp. 27252729.
, Experimental results on variable structure adaptive robot control
[12]
without velocity measurement, in Proc. Amer. Contr. Conf., Seattle,
1995, pp. 23172321.
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[15] K. Narendra and A. Annaswamy, Stable Adaptive Systems. Englewood
Cliffs, NJ: Prentice-Hall, 1989.
[16] S. S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence
and Robustness. Englewood Cliffs, NJ: Prentice-Hall, 1989.
[17] V. I. Utkin, Sliding Modes and Their Application in Variable Structure
Systems. MIR, 1978.
[18] A. C. Wu, L. C. Fu, and C. F Hsu, Robust MRAC for plant with
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Contr. Conf., Chicago, 1992, pp. 27352739.
Manuscript received March 14, 1995; revised September 8, 1995, April 20,
1996, and July 1, 1996.
J. Kaloust is with Loral Vought Systems, Dallas, TX 75265-0003 USA.
Z. Qu is with the Department of Electrical and Computer Engineering,
University of Central Florida, Orlando, FL 32816 USA.
Publisher Item Identifier S 0018-9286(97)02046-1.
_ = ( )+1 ( )+ ( ) ( )
f x; t
x; t
a t u x; t
(1)
( )
1 ( )
()