A design method for discrete-time model reference adaptive control using delta operator

摘要

In this paper, a new method for the design of discrete-time indirect model reference adaptive control using delta-operator is presented. The feature of our method is that the nondominant part of the discrete-time model is included in the inner-loop controller design, while in existing methods, this part is treated as unmodeled dynamics. Not treatign the nondominant part as unmodeled dynamics can make the real unmodeled dynamics more distinguishable, and the stability and satisfactory performance can be maintained even when the sampling rate is relatively slow. Simulatin results verify that the proposed method can tolerant lager sampling period than the existing methods.