Page 95 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics
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RISE Based Asymptotic PPC of Servo Systems With Continuously Differentiable Friction Model 87
Figure 5.1 Control performance of four controllers for reference signal x d =
0.4sin(0.4πt).
Figure 5.2 Comparative tracking errors for x = 0.4sin(0.4πt).
d
DCRAC are comparable to some extent, the transient response of AN-
RISE is better than that of DCRAC. This is reasonable because ANRISE
includes a PPF to guarantee the prescribed error bound. Nevertheless,
the transient and steady-state error of the proposed ANRISE is smaller
than ANDSC due to the use of a robust term to enhance the robustness.
