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Information Technologies and Control

The Journal of Institute of Information and Communication Technologies of Bulgarian Academy of Sciences

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1312-2622
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Adaptive Tuning Functions Tracking Control with Nonlinear Adaptive Observers

R. Mishkov
  • Control Systems Department, Technical University Sofia, Branch Plovdiv, 25 Tsanko Dyustabanov St. 4000 Plovdiv, Bulgaria
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/ V. Petrov
  • Control Systems Department, Technical University Sofia, Branch Plovdiv, 25 Tsanko Dyustabanov St. 4000 Plovdiv, Bulgaria
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Published Online: 2014-10-02 | DOI: https://doi.org/10.2478/itc-2013-0008

Abstract

The paper is dedicated to the derivation of a unified approach for nonlinear adaptive closed loop system design with nonlinear adaptive state and parameter observers combined with tuning functions-based nonlinear adaptive control for trajectory tracking. The proposed approach guarantees asymptotic stability of the closed loop nonlinear adaptive system with respect to the tracking and state estimation errors and Lyapunov stability of the parameter estimator. The advantages of the approach are the lack of over-parametrization, resulting in a minimal number of estimator equations and the preservation of the overdamped performance specifications of the closed loop nonlinear adaptive system in its whole range of operation. The application of the approach to a permanent magnet synchronous motor driven inverted pendulum concludes with simulation of the closed loop nonlinear adaptive system time responses.

Keywords: Nonlinear systems; adaptive control; adaptive observers; adaptive parameter estimators; Lyapunov stability

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About the article

Received: 2013-12-10

Published Online: 2014-10-02


The support of Research Fund Project No. 132PD0027-19 of NIS at the Technical University, Sofia for this research work is gratefully acknowledged.


Citation Information: Information Technologies and Control, Volume 11, Issue 2, Pages 14–21, ISSN (Online) 1312-2622, DOI: https://doi.org/10.2478/itc-2013-0008.

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© 2013 R. Mishkov and V. Petrov. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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