Robust direct model reference adaptive control for the plants with relative degree n*=3
相对阶n*=3系统的鲁棒直接型模型参考自适应控制

For a kind of plants with relative degree n~*=3 and unmodeled dynamics for input and output,an implementable robust direct model reference adaptive controller with unnormalized adaptive law is designed,and the adaptive laws(satisfying) the properties of lemma 1 are constructed.By using the Lyapunov stability theory and robust adaptive control analysis theory and constructing the error plant,the stability and tracking performance of the closed-loop plant are analyzed rigorously.