Robust Design Procedures
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This chapter discusses a simple modification to be made to the integral adjustment gain KI(t) in order to account for the effects of disturbances and noise that lead to a persistent nonzero error. These modifications are presented and illustrated in Sections 4.2, 4.3, and 4.4, respectively, for the basic algorithm, the algorithm with reference model feedforward, and the algorithms based upon supplementary dynamics.
KeywordsTracking Error Adaptive Controller Output Error Supplementary Dynamic Integral Gain
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