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Sba: Controle & Automação Sociedade Brasileira de Automatica
Print version ISSN 0103-1759
CUNHA, Caio D.; ARAUJO, Aldayr D. and MOTA, Francisco C.. Controlador em modo dual adaptativo robusto para plantas com grau relativo unitário: prova de estabilidade. Sba Controle & Automação [online]. 2007, vol.18, n.2, pp.223-233. ISSN 0103-1759. http://dx.doi.org/10.1590/S0103-17592007000200008.
In this paper the stability proof to the Dual Mode Adaptive Robust Control (DMARC) applied to plants with relative degree one is presented. The DMARC is a control strategy which interpolates the Model Reference Adaptive Control (MRAC) and the Variable Structure Model Reference Adaptive Control (VS-MRAC). The main idea is to develop a robust controller to parametric uncertainties and external disturbances with good transient characteristics (fast response and small oscillations) as in a VS-MRAC and good steady-state characteristic (smooth control signal) as in a conventional MRAC.
Keywords : Dual Mode Control; Adaptive Control; Variable Structure Systems.