Adaptive Inverse Control for Multivariable Systems via Decoupling Feedforward Compensation
Date Issued
2014
Date
2014
Author(s)
Kung, Po-Jung
Abstract
This thesis proposes an adaptive inverse control for multivariable discretetime
systems. The adaptive inverse control is well known for its excellent
ability in tracking and disturbance rejection. However, previous adaptive inverse
control does not apply to multivariable systems because multivariable
transfer function matrices do not commute with each other. To resolve this
problem, this thesis uses a feedforward compensator to decouple the multivariable
systems, and then apply the adaptive inverse control to each channel
of the decoupled systems. The proposed adaptive inverse control works for
both minimum-phase and non-minimum phase multivariable systems.
Subjects
系統解偶
適應性逆控制法
最小平方演算法
干擾消除
參 考輸入追蹤
Type
thesis
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