부산대학교 도서관

The adaptive robust control design problem for low-dimensional systems is addressed in this article. A measure of the system uncertainty is quantified through the application of the Set Membership (SM)-identification scheme. The SM-estimator identifies a feasible convex set (parallepiped) of parameters which is consistent with the data and the model structure. Based on these parameters, a robust stabilizing controller computes the feasible set (convex cone) of stabilizing controller gains. Subsequently, a pole assignment controller selects a subset from the stabilizing gains in order to place the closed loop poles at a certain disk inside the unit disk. Simulation studies were used to validate the efficiency of the proposed method in one ill-behaved system (unstable and nonminimum phase)