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本文对文献提出的自适应控制算法的统一格式进行了稳定性和收敛性分析。首先表明:由直接自适应算法的统一格式得到的直接自适应算法即使用于可测干扰作用的非最小相位系统仍然具有全局收敛特性,即以概率1输入输出采样均方有界,广义输出跟踪误差条件采样均方极小。同时也表明:由间接自适应控制算法的统一格式得到的间接自适应算法不需要最小相位和系统延时已知条件而具有稳定和收敛特性。
In this paper, the stability and convergence of the unified format of the adaptive control algorithm proposed in the literature are analyzed. First of all, it is shown that the direct adaptive algorithm obtained by the uniform format of the direct adaptive algorithm, even if the non-minimum phase system used for the measurable interference still has the global convergence property, that is, the mean square bound of the input / output samples with probability 1 and the generalized output tracking The mean square error of sampling is very small. It also shows that the indirect adaptive algorithm obtained by the uniform format of indirect adaptive control algorithm does not need the minimum phase and the known conditions of system delay and has the characteristics of stability and convergence.