On the discrete adaptive posicast controller

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Author
Abidi, K.
Yildiz, Y.
Date
2015Journal Title
IFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN
14746670
Publisher
IFAC Secretariat
Volume
48
Issue
12
Pages
422 - 427
Language
English
Type
Conference Paper
Metadata
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http://hdl.handle.net/11693/27896Abstract
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.
Published as
http://dx.doi.org/10.1016/j.ifacol.2015.09.415Collections
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