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Adaptive control method that compensates for sign error in actuator response

  • US 8,082,047 B1
  • Filed: 11/09/2009
  • Issued: 12/20/2011
  • Est. Priority Date: 11/09/2009
  • Status: Active Grant
First Claim
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1. An adaptive control system for controlling a plant, comprising:

  • a command filter that modifies a raw plant reference command to remove the effect of actuator saturation when a control limit is reached, said command filter outputting a filtered command and a time rate signal representing a time rate of said filtered command;

    a linear controller that outputs a linear control signal component, said linear control signal component being a function of said time rate signal and a command tracking error signal;

    control-reversal compensation means that output a nonlinear control signal component, said nonlinear control signal component being a function of said time rate signal and said command tracking error signal; and

    a summer for outputting an actuator command that is a sum of said linear and nonlinear control signal components.

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