Simple adaptive controller for positive-real systems with time-delay

Silviu-Iulian Niculescu (1) , Anuradha M. Annaswamy (2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 MIT - Department of Applied Mathematics

This paper focuses on constructing a simple adaptive controller for positive-real systems with a delayed input. The controller structure and the adaptive law are such that they extend in a natural way to the delay-free case. The idea is based on the construction of a Lyapunov-Krasovskii functional for an appropriate model transformation of the original system. Comments on the delay effects are also included.

Mots clés: Control system synthesis; Delay control systems; Lyapunov methods; Mathematical models; Mathematical transformations; Real time systems; Robustness (control systems); System stability; Adaptive law; Controller structure; Delay effects; Lyapunov-Krasovskii functional; Positive real systems; Adaptive control systems

Domaines: Automatique / Robotique

Silviu-Iulian Niculescu, Anuradha M. Annaswamy. Simple adaptive controller for positive-real systems with time-delay. 2000 American Control Conference, Jun 2000, Chicago, United States. pp.3666-3670. ⟨hal-02299341⟩