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

Abstract

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.

Passivity‐based adaptive output tracking control for switched nonlinear systems with uncertain parameters

“…Since passivity is effective for addressing the stabilization problem, naturally, passivity is also expected to be useful in the study of tracking control. For nonswitching systems, many results have existed, including pure theoretical analysis and practical applications (see, for example, previous works [29][30][31] ). Unfortunately, up to now, there exist only relatively few results about the passivity-based tracking control for switched systems.…”