Improved Model Free Adaptive Control Based on Compact Form Dynamic Linearization

With the development of modern industry and information science and technology, modern industrial processes become more and more complex, which brings many challenges for model-based controller design. In this case, data-driven control is a complementary approach to model-based control. This paper proposes an improved model free adaptive control method based on compact format dynamic linearization technique for a class of nonlinear systems. Its control law consists of a time-varying proportional term, a time-varying integral term, and a time-varying derivative term. As a result, compared with the original method where there is only a time-varying integral term, it can strongly improve the dynamical performance of control systems. The effectiveness of the proposed method is demonstrated through simulation results.