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ZigangPan/
MRRACLinear
Model reference robust adaptive control design for MIMO LTI systems
Contributed by: Zigang Pan
This paclet is on the model reference robust adaptive control design for multiple-input and multiple-output linear time-invariant systems.
Installation Instructions
To install this paclet in your Wolfram Language environment,
evaluate this code:
PacletInstall["ZigangPan/MRRACLinearFullOrder"]
To load the code after installation, evaluate this code:
Needs["ZigangPan`MRRACLinearFullOrder`"]
Details
In this major revision 2.0.0, the function robustMRACdesignMIMOFullOrder1 has been significantly changed. Now, one has the design function R as part
of the input, and the systemaddI and systemaddO are also as part of the input, so that the controllerR designed can be directly applied to the unknown
system that is given. There is no need any more to do model composition on the controller to lead to one to be applied to the unknown system. Another
major change is with respect to measured disturbances in case of r>0. Now, all disturbance inputs are in L∞ and the control input does not depend explicitly on the measured disturbance inputs. This is more realistic in practical applications. Then, we can attenuate all measured disturbance inputs with relative degree less than or equal to r, and cancel the effect of all measured disturbance inputs with relative degree greater than r. For r=0 case, we still allow measured disturbance to enter the output channels, which will be cancelled by the control input. This is not practical in most cases, but does not cause theoretical problem to our analysis.
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