Generation of Control Actions in Direct Adaptive Control Systems

The properties of adaptive control systems synthesized by the velocity vector method are considered. It is shown that the systems are characterized by different time-scale dynamics because they contain a reference model, a fast adaptor, and a derivative estimation filter. A study is made of the effect of the parameters of the reference model on the properties of systems with additive adjustment and additive and parameter adjustments. The system parameters having the most significant effect on the control are determined and recommendations are given for the choice of these parameters with the constraints on the control actions taken into account.