Robust Adaptive Controller Combined With a Linear Quadratic Regulator Based on Kalman Filtering

Abstract

This work presents a control algorithm which incorporates a Reference Model Robust Adaptive Controller (RMRAC) and a Linear Quadratic Regulator based on Kalman Filtering (LQR <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">KF</sub> ) to obtain a high performance and robust control system. The adaptive portion of the controller deals with system uncertainties, while the optimum scheme, aided by a Kalman Filter, is designed to deal with harmonically related system disturbances. A proof of stability is presented in addition to a numerical example of the combined RMRAC - LQR <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">KF</sub> controller to show the effectiveness of this new control approach.