On the discrete adaptive posicast controller
IFAC Proceedings Volumes (IFAC-PapersOnline)
422 - 427
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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. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Discrete time systems
Adaptive control systems
Continuous time systems
Delay control systems
Digital control systems
Internal combustion engines
Model reference adaptive control
Robustness (control systems)
Discrete - time systems
Finite spectrum assignment
Time varying parameter
Discrete time control systems
Published Version (Please cite this version)http://dx.doi.org/10.1016/j.ifacol.2015.09.415
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