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针对相对阶为2的多变量系统,利用高频增益矩阵分解,在适当的假设下,建立了新的参数模型,设计出具有未规范化自适应律的直接型模型参考自适应控制器,保证了闭环系统所有信号的有界性和跟踪误差的收敛性.仿真实例验证了控制方案的有效性.
Aiming at the multivariable system with relative order 2, a new parametric model is established by using matrix decomposition of high-frequency gain. Under appropriate assumptions, a direct model reference adaptive controller with an unnormalized adaptive law is designed to ensure that The boundedness of all signals and the tracking error convergence of the closed-loop system are simulated. Simulation results show the effectiveness of the control scheme.