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ooo5-1098(95)00115-8
Brief Paper
Adaptive
Key Words-Internal
modelling errors.
Abstract-This
paper shows how adaptation
can be
combined with an internal model control structure to obtain
an adaptive internal model control scheme possessing
theoretically provable guarantees of stability. The internal
model controller structure is first reviewed in the context of
the YJBK parametrization of all stabilizing controllers, and
its appropriateness for the control of open-loop stable plants
is discussed. Using a series-parallel identification model, it is
then shown how, for a stable plant, one can adapt the
internal model on-line and guarantee stability and asymptotic
performance
in the ideal case, i.e. in the absence of
modelling errors. This is achieved without having to check
any strictly positive real conditions or requiring any
persistent excitation. By robustifying the adaptive law using
standard approaches from the robust adaptive control
literature, the robustness of the scheme to the presence of
modelling errors, such as unmodelled dynamics, is also
established. The theoretical developments here complement
the reported industrial successes of internal model control
schemes.
robustness
to
1. Introduction
The internal model controller
Brief Papers
adaptive control schemes (Ioannou and Datta, 1991). These
results are included here for later use while analyzing the
robust adaptive IMC scheme of Section 5.
Definition 2.1. For any signal x: [0, =)-+ Iw, x, denotes the
truncation of x to the interval [0, t] and is defined as
x(r)
r,(r) = O
if r5t,
otherwise.
Definition 2.2. For any signal x: [0, cc)+ [w, and for any
6 2 0, t 20, ]]x,]]$is defined as
Remark
2.1. Here
]](.),]]: represents
the exponentially
weighted L2 norm of the signal truncated to [0, r]. When
6 = 0 and t = x, ]1(.),]]; becomes the usual L, norm, and will
be denoted by ]].]12.It can be shown that ]].]]$ satisfies the
usual properties of the vector norm.
matrix whose
X(s)N,(s)
IIWs)llz 5 sup
{A,,,[H*(j,)Hcjw)l}2,
(0
(3)
matrix whose
entries are proper and analytic in Re [s] 2 - @. Then
IIH(s)Il: a IIH(s - :S)llx.
(4)
Definition
2.5. Consider
y: [0, =)+
S(y)=(x:[O,
=)-+oI
the
- fs)] d-)*.
signals
(5)
x: [O. =) -+ [w.
I ~+~~T(~)X(T)dT~li_y(~)d~+c]
,
where
proper
entries
and u
H(s)
Ilu,Ili.
(6)
IIH(s)ll: ll~,ll~.
(7)
for some
p 20
then
l]u,l]$ E
+ Y(s)D,(s) = 1
J(s) - &(s)Q(s)
(9)
where Q(s) varies over the set of all stable rational transfer
functions.
3.1. IMC structure for stable plants as a special case of the
YJBK parametrization.
Now suppose the plant P(s) is
open-loop stable. Then a possible choice of coprime factors is
/VP(s) = P(s) and Dr(s) = 1, so that the Bezout identity (8)
holds with X(s) = 0 and Y(s) = 1. Then it follows from (9)
that every stabilizing compensator C(s) is given by
() =1 -
Q(s)
P(s)Q(s)
(10)
where Q(s) varies over the set of all stable rational transfer
functions. This compensator when inserted into the setup in
Fig. 1 leads to the Youla-parametrized system shown in Fig.
2. Keeping the external input-output behavior the same, the
above system can be successively transformed into the
configurations shown in Figs 3 and 4 respectively.
The configuration in Fig. 4 is referred to as the internal
model control (IMC) structure, because the controller in this
configuration incorporates an explicit model of the plant.
Thus the popular IMC structure for stable plants is a special
case of the YJBK parametrization
of all stabilizing
compensators. Since Q(s) is the Youla parameter, it follows
that the IMC configuration in Fig. 4 is stable iff Q(s) is a
stable transfer function.
Remark 3.1. The implementation of the IMC structure as in
Fig. 4 is appropriate only for open-loop stable plants. Indeed,
an open-loop unstable plant in this configuration will
continue to be closed-loop unstable, since perfect matching
between the plant and the model will ensure that there is
effectively no feedback signal for stabilization purposes.
Nevertheless, the IMC structure can be used for design
purposes even for open-loop unstable plants (see e.g. Morari
and Zafiriou, 1989) and in this case the parameter Q(s)
corresponds to the famous Q parameterization (Zames, 1981:
Zames and Francis, 1983). To guarantee closed-loop stability,
Q(s) must not only be stable but also satisfy certain
(8)
Brief Papers
+$I,7
[y] +
[u],
or
;ra,o
y=e1A(s) [yl+
eY$u1,
03)
where
a,(s) = [Y-l
a,(s)
= [P
s-~
llT.
sm-
llT,
4=
[4T 4T],
e= y&4,
y>o,
&=y-y^,
p =
eT4,
(15)
(16)
(17)
(11)
= Z,(s)bl.
Y
AUTO 32-2-I
(14)
of
42 = a,(s)[u],
an(s)
41 = ,(,)[Yl,
or
Ms)[yl
(12)
Brief Papers
signals in the closed-loop
system are uniformly bounded and
the internal model output p(t) converges
to the actual plant
output y(t) as I+ 3~. In other words, the adaptive
internal
model controller
behaves asymptotically
as the non-adaptive
one, which could be implemented
if the plant were perfectly
known.
Proof: the proof
follows by combining
the results of a
standard
Lyapunov-like
argument
with the properties
of the
IMC structure.
Consider the positive-definite
function
Then,
along
the solution
of the estimated
parameters
can be achieved
by using a
normalized
adaptive
law as in the next section, instead of
the unnormalized
adaptive law considered
here.
5. Robust adaptive internal model control: stability in the
presence of unmodelled dynamics
The adaptive
IMC of the last section
was designed
assuming that the plant is ideal. However,
it is well known
from the adaptive
control literature
that such schemes can
exhibit unstable behavior in the presence of modelling errors
such as unmodelled
dynamics
or bounded
disturbances.
Accordingly,
in this section we shall design a robust adaptive
law (Ioannou
and Sun, 1994) and combine it with an IMC
structure to obtain a robust adaptive IMC scheme.
To this end, we consider the plant equation
of (15), we have
ri = ere4
-E
(since E = --fi*+
5 0.
(19)
Therefore
V and hence 8 and 0 are uniformly
hounded.
Also, since V(r) is monotonplly
decreasing
and bounded
V(e(r)) = V, exists. Hence, integrating
from below, lim,,,
both sides of (19) from t = 0 to I = x, we obtain
*
r*(r) dr = v, - V,,
u;, $ V(@O)).
(20)
I0
i.e. E E Lz. Since Q(s) is stable and r E L,, E E Lz, it follows
from Fig. 5 that the control input u = ui + uz, where U, E L,
and a2 E L,. Since P(s) is strictly proper and stable, it follows
that y E L, (Desoer and Vidyasagar,
1975). Since
y = MS)- R<>(s)
w)
,yl
are strictly
we obtain
from (18)
closed-loop
To show
from (14)
,ijT&
where
r
4s)
H(S)
MS)
O-
-%,(s)
MS)
ll(.s)
LLll,
(23)
A(s)
as
e*4 + ~~11,
y =
where
in Section
(24)
4.1 and
(21)
we
have already
established
that
0 = YE+, so that E E L, j f3 E L,. Again
yaw,
z,,(s) u + 1~4,hP<,(s)
8, I$ E L,.
Also,
Equation
(24) is exactly in the form of the linear parametric
model with modelling error, for which a large class of robust
adaptive
laws can be developed.
In particular,
using the
gradient
method with normalization
and parameter
projection, we obtain the rollowing robust adaptive law (Ioannou
and Datta, 1991):
e(o) E %@,
6 = Pr [yEb],
,_v-s
m2
(27)
y = 86,
m=l+nf,
ti, = -6,,m,
(28)
nt=m,.
+ II* + y,
(26)
m,(O) = 0,
(29)
(30)
schematically
in Fig. 6.
(31)
Brief Papers
As in Ioannou and Datta (1991) we take truncated
exponentially weighted norms on both sides of (36) and (37)
and use (6), to obtain
II~,llzS~c fc II(~m*MI~,
(38)
l/u,/I$~c + c ll(~m%l~~
(39)
(4)
-G(-r)e2m2m~(~) dr
5 c +
c emsctmt)
E*(s)mi(s)exp(c[&zdr)dF
0
function
(using (32))
1
<--&2m2+1Lw
_
(completing the squares).
2
2 mz
From (25)
nlm E L,.
(29)
and
(30),
using
(7)
it follows
(33)
that
obtain
(35)
Q(s)[$$f
[l + dA~)l][r
u = Q(s)[r
- em2].
- &ml,
(36)
(37)
lemma)
6. Concluding remarks
We have designed adaptive IMC schemes for open-loop
stable
plants
using the traditional
certainty
equivalence
approach
of adaptive control. Both the ideal case and robust
designs were considered,
and the stability and performance
properties
in each of these cases was established.
The design
and analysis were carried out by combining
the properties
of
the IMC structure
with well-known
techniques
from the
adatpive
control
literature.
The principal
motivation
for
undertaking
such a study was the immense
popularity
of
266
Brief Papers
References
Kharitonov,
V. L. (1978). Asymptotic stability of an
equilibrium position of a family of systems of linear
differential equations. Differentsial nye Uravneniya, 14,
2086-2088.
Vidyasagar,