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      On the discrete adaptive posicast controller

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      Author
      Abidi, K.
      Yıldız, Yıldıray
      Date
      2015
      Source Title
      Proceedings of the 12th IFAC Workshop on Time Delay Systems, TDS 2015
      Print ISSN
      1474-6670
      Publisher
      IFAC
      Volume
      48
      Issue
      12
      Pages
      422 - 427
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
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      Abstract
      In this paper, we present the discrete version of the Adaptive Posicast Controller (APC) that deals with parametric uncertainties in systems with input time-delays. The continuous-time APC is based on the Smith Predictor and Finite Spectrum Assignment with time-varying parameters adjusted online. Although the continuous-time APC showed dramatic performance improvements in experimental studies with internal combustion engines, the full benefits could not be realized since the finite integral term in the control law had to be approximated in computer implementation. It is shown in the literature that integral approximation in time-delay compensating controllers degrades the performance if care is not taken. In this work, we present a development of the APC in the discrete-time domain, eliminating the need for approximation. In essence, this paper attempts to present a unified development of the discrete-time APC for systems that are linear with known/unknown input time-delays. Performances of the continuous-time and discrete-time APC, as well as conventional Model Reference Adaptive Controller (MRAC) for linear systems with known time-delay are compared in simulation studies. It is shown that discrete-time APC outperforms its continuoustime counterpart and MRAC. Further simulations studies are also presented to show the performance of the design for systems with uncertain time-delay.
      Keywords
      Adaptive control
      Discrete time systems
      Lyapunov stability
      Robust control
      Time-delay systems
      Telecommunication networks
      Permalink
      http://hdl.handle.net/11693/27896
      Published Version (Please cite this version)
      http://dx.doi.org/10.1016/j.ifacol.2015.09.415
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      • Department of Mechanical Engineering 254
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