Abstract—In this paper a new, discrete, robust adaptive control algorithm (DACDM) and research results on tracking quality improvement and on the increase of control system robustness to parametric uncertainty were presented. The proposed control algorithm permits to obtain the desired output signal courses at the apriori declared time regime with the save of control system stability in the presence of control signal constraint by the proper modification and integration of so far applied algorithms of continuous time control which makes possible the triple level monitoring of system robustness in discrete control – through the use of coefficient diagram, through the introduction of an additional filter to the control system (which parameters are by the J function reflected) as well as the use of the adaptive algorithm with parameters estimation of discrete model by recursive least squares (RLS) method. The influence of various settings of algorithm parameters on a tracking quality, was considered. Simulations results confirm the efficiency of DACDM algorithm in the context of considered classes of plants.

Index Terms—adaptive control, DACDM algorithm, robust control, tracking quality, parametric uncertainty

Cite: Wojciech Giernacki, "Robust Adaptive Control with the Use of DACDM Algorithm – Impact of Settings on Tracking Quality," Journal of Industrial and Intelligent Information, Vol. 3, No. 3, pp. 210-215, September 2015. doi: 10.12720/jiii.3.3.210-215