Output Feedback Strict Passivity of Discrete-time Nonlinear Systems and Adaptive Control System Design

49th IEEE Conference on Decision and Control (CDC)

Tanaka

Tokimatsu

2010

Self Cite

In this paper, a design method for adaptive output tracking control of discrete-time nonlinear systems is dealt with. The proposed method ensures the stability of the resulting control system by an adaptive output feedback based on OFSP properties of the controlled system and achieves the output tracking by an adaptive NN feedforward control. Since the discrete-time OFSP system must have a relative degree of 0, it possibly results in the causality problem. We will solve this problem by considering an equivalent control using the available output signals and develop an adaptive output feedback control system with an adaptive NN feedforward. The stability of the obtained control system will be analyzed through the discrete-time nonlinear version of KYP lemma.

“…Sufficient conditions for the system (1) to be OFSP has been provided in the following theorem [9], [10].…”

Section: B Output Feedback Strict Passivitymentioning

confidence: 99%

“…The strict passivity by means of the discrete-time nonlinear version of the KYP-Lemma has been derived as follows [17], [9]:…”

Section: A Strict Passivitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive output regulation of a class of discrete-time nonlinear systems based on output feedback and NN feedforward control

49th IEEE Conference on Decision and Control (CDC)

Tanaka

Tokimatsu

2010

Self Cite

“…For discrete-time nonlinear systems, passivity properties and passivity based control have recently been investigating with a great deal of attention [6], [7], [8], [9], [10]. One of the most attractive conditions for the passivity based control is 'output feedback strictly (exponentially) passive(OFSP or OFEP)' condition [4], [5], [9], [10]. The system is said to be OFSP if there exists an output feedback such that the resulting closed loop system is strictly passive.…”

Section: Introductionmentioning

confidence: 99%

Output tracking control of discrete-time nonlinear systems by adaptive PID based on output feedback passivity

Proceeding of the 11th World Congress on Intelligent Control and Automation

Takagi

2014

Self Cite

In this paper, we propose a design scheme of an adaptive PID tracking control system for discrete-time nonlinear SISO systems. The proposed method utilizes the OFSP properties of the controlled system, so that the stability of the resulting adaptive control system can be guaranteed with certainty. A robust adaptive PID design scheme for the OFSP augmented system with a parallel feedforward compensator without causality problems was developed by introducing an adaptive NN feedforward control signal. * ( + 1) = ( * ( )) + * ( )and they are given by functions of ( ) such as * ( ) = ( ( )) and * ( ) = ( ( )).Assumption 2: ( ( )) and ℎ( ( )) are globally Lipschitz.

Adaptive PID controller design based on output feedback passivity for discrete-time nonlinear systems

2009 American Control Conference

Hirahata

Ohdaira

et al. 2009

Self Cite

This paper deals with the design of an adaptive PID control system for discrete-time SISO non-linear systems. The proposed method is based on the output feedback strictly passive (OFSP) property of the controlled system. A fundamental design scheme of an adaptive PID control system with a parallel feedforward compensator (PFC) introduced in order to realize an OFSP augmented controlled system will be provided.