Robust Performance of Sampled-data Adaptive Control. From Simulation to Experimental Results

The paper considers robustness aspects of adaptive control in application to sampled-data systems with poleplacement controller subject to plant-model mismatch, in the sense of mistuning to model parameters with respect to their „true” values. The paper extends the results presented in author’s previous work respecting comparison of sampled-data and discrete-time control systems to experimental results obtained from the control system of a servo drive. Firstly, the adaptive sampleddata controller is introduced and is applied by means of simulation, secondly, it is implemented in real-time control system to extend robust performance issues to realworld control systems. Finally, the regions of robust performance are shown on parameter surface, i.e. visualisation of parameters? span for which there is no severe performance degradation in comparison to the best plantmodel matching, as a function of sampling interval.