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CDC
2010
IEEE

Robustness of funnel control in the gap metric

10 years 6 months ago
Robustness of funnel control in the gap metric
For m-input, m-output, finite-dimensional, linear systems satisfying the classical assumptions of adaptive control (i.e., (i) minimum phase, (ii) relative degree one and (iii) positive high-frequency gain), the well known funnel controller k(t) = (t) 1-(t) e(t) , u(t) = -k(t)e(t) achieves output regulation in the following sense: all states of the closed-loop system are bounded and, most importantly, transient behaviour of the tracking error e = y - yref is ensured such that the evolution of e(t) remains in a performance funnel with prespecified boundary (t)-1 , where yref denotes a reference signal bounded with essentially bounded derivative. As opposed to classical adaptive high-gain output feedback, system identification or internal model is not invoked and the gain k(
Achim Ilchmann, Markus Mueller
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Achim Ilchmann, Markus Mueller
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