Model-reference impedance and admittance control of linear systems

A variable structure model-reference adaptive control VS-MRAC of impedances and admittances driving-point DP functions is proposed. Only voltage and current measurements are required to implement the controllers. The inclusion of a prefilter in the reference model allows the synthesis of quite general DP functions, even with nonminimum phase zeros and unstable poles. It is shown that the stability of the closed-loop system depends only on the source DP function and the chosen reference model. The VS-MRAC guarantees global exponential stability properties, robustness to parameter uncertainties, disturbances, and unmodelled dynamics. Simulation results illustrate the performance and robustness of the VS-MRAC. Copyright © 2016 John Wiley & Sons, Ltd.

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