Analysis and Design of a Robust VS-MRAC :Part
鲁棒变结构模型参考自适应控制器的分析与设计(Ⅱ)

This paper considers the variable structure model reference adaptive control (VS MRAC) for a class of plants with modeled part being relative degree greater than one. By estabilshment the relationship between the tracking error and those auxiliary errors, it is shown that as long as the performance indexes are guaranteed for the auxiliary errors, each of which is in dynamics a sub system with relative degree one, the tracking error will converge to a small residual set in a pre specified transient time. Furthermore, the influence of the averaging filters on the system is analyzed and shows that it can be considered as, in a sense, an unmodeled dynamics.