一阶非线性系统自适应控制.docVIP

一阶非线性系统的自适应控制 资料来源：程代展，《应用非线性控制》，P225，例8.4 例8.4 设计自适应控制器控制不稳定系统： 假定对象参数，对于自适应控制器是未知的。 参考模型选择为： 即，。取自适应增益。两个控制器参数的初值均取为0. 仿真中使用了两种不同的参考信号： （1）r(t)=4。从图8.9中知跟踪误差收敛到零，但参数误差不收敛。 （2）r(t)=4sin(3t)从图8.10中知跟踪误差和参数误差都收敛到零。 图8.9 跟踪性能和参数估计，r(t)=4 图8.10 跟踪性能和参数估计，r(t)=4sin(3t) clear clc gamma=2; x=0; xm=0; a_r=0; a_y=0; a_f=0; t=0; Dt=0.001; n=1; for i=1:10000 r=4; %r=4*sin(3*t); Dxm=-4*xm+4*r; xm=xm+Dxm*Dt; f=x^2; e=x-xm; Da_r=-gamma*e*r; Da_y=-gamma*e*x; Da_f=-gamma*e*f; a_r=a_r+Da_r*Dt; a_y=a_y+Da_y*Dt; a_f=a_f+Da_f*Dt; u=a_r*r+a_y*x+a_f*f; Dx=x+x^2+3*u; x=x+Dx*Dt; x_store(:,n)=[x;xm]; a_store(:,n)=[4/3;(-1-4)/3;-1/3;a_r;a_y;a_f]; n=n+1; t=t+Dt; end figure(1) plot((1:n-1)*Dt,x_store(1,:),(1:n-1)*Dt,x_store(2,:)) legend(x,xm) xlabel(time/s) figure(2) plot((1:n-1)*Dt,a_store(1,:),(1:n-1)*Dt,a_store(4,:),(1:n-1)*Dt,a_store(2,:),(1:n-1)*Dt,a_store(5,:),(1:n-1)*Dt,a_store(3,:),(1:n-1)*Dt,a_store(6,:)) xlabel(time/s) layout development cities in developed countries show that developing rail transit Guide and an important means of achieving sustainable urban development. More than the bulk of the urban rail transit vehicles, rail traffic in the urban space layout and guide the evacuation, optimizing the structure and other aspects also play an important role in its role as the scale becomes more important. Rail transit on land development and stimulation is achieved through its good accessibility, under the dual role of mechanisms in land and planning, transport accessibility high land along the rail transit development and high strength, promotion of urban morphology and land use patterns to adjust accordingly. 1, and Copenhagen 1947, Copenhagen refers to shaped planning introduced, requirements land development along narrow of finger corridor concentrated, refers to shaped planning guide big Copenhagen area along track traffic li