Patent ID: 6904422
Filing Date: 2005-06-07
Classification: G05B

Abstract:
1. An adaptive control system (ACS) for controlling a plant based on at least one commanded output signal y c and an rth time-derivative of the commanded output signal y c (r) , and a plant output signal y that is a function of the states existing in the plant, r being the relative degree of the plant output signal y, the ACS comprising: a model inversion unit (MIU) coupled to receive a pseudo-control signal v and a plant output signal y, the MIU generating a control signal δ a summing unit coupled to receive the rth time-derivative of the commanded output signal y an error signal generator (ESG) coupled to receive the commanded output signal y a linear controller having a linear dynamic compensator (LDC) coupled to receive the tracking error signal {tilde over (y)}, the LDC generating the pseudo-control component signal v an adaptive element having a neural network adaptive element (NNAE) coupled to receive the plant output signal y, the pseudo-control signal v, and the training signal δ, the NNAE having a neural network generating the adaptive control signal v