Composite Learning Control With Application to Inverted Pendulums

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However, the condition of persistent excitation (PE) still has to be satisfied to guarantee parameter convergence in CAC. This paper proposes a novel model reference composite learning control (MRCLC) strategy for a class of affine nonlinear systems with parametric uncertainties to guarantee parameter convergence without the PE condition. In the composite learning, an integral during a moving-time window is utilized to construct a prediction error, a linear filter is applied to alleviate the derivation of plant states, and both the tracking error and the prediction error are applied to update parametric estimates. It is proven that the closed-loop system achieves global exponential-like stability under interval excitation rather than PE of regression functions. The effectiveness of the proposed MRCLC has been verified by the application to an inverted pendulum control problem.Comment: 5 pages, 6 figures, conference submissio

Posicast applications to electronic design: a conceptual revision

Se presenta una revisión conceptual generalizada de los conformadores de entrada de sistemas de control como herramientas para eliminar vibraciones en la salida de los sistemas. Se desarrollan los diferentes tipos de conformadores como versiones mejoradas de Posicast, el conformador original. Luego se presentan las aplicaciones de Posicast en el desarrollo de sistemas electrónicos, específicamente, en circuitos de potencia y en circuitos microelectrónicosThis work is a generalized conceptual revision of the control system input shapers. The input shapers are used to eliminate vibrations at the output of the systems. The different types of shapers are developed as improved versions of Posicast, or the original shaper. Then, Posicast applications are presented in the development of electronic systems, specifically in power circuits and microelectronic circuit