Robust Design Procedures

  • Howard Kaufman
  • Itzhak Barkana
  • Kenneth Sobel
Part of the Communications and Control Engineering Series book series (CCE)


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.


Tracking Error Adaptive Controller Output Error Supplementary Dynamic Integral Gain 
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Copyright information

© Springer Science+Business Media New York 1998

Authors and Affiliations

  • Howard Kaufman
    • 1
  • Itzhak Barkana
    • 2
  • Kenneth Sobel
    • 3
  1. 1.Department of Electrical, Computer, and Systems EngineeringRensselaer Polytechnic InstituteTroyUSA
  2. 2.Department of Electrical EngineeringDrexel UniversityPhiladelphiaUSA
  3. 3.Department of Electrical EngineeringCity College of New YorkNew YorkUSA

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