552 IEEE TRANSACTIOXS ON AUTOHATIC CONTROL, OCTOBER 1969

Fig. 4. System unit step responses.

Fig. 3. Controlinstrumentation.

Fig. 5 . System unit st.epresponse.

Fig. 5 shows the system step response with the opt.imal law,
and
+
for the plant. P = (9 l)+. The closed-loop transfer function is
(17) with w = 1.87, = 0.63.

REFERENCES
[I] P. Eykboff “Some fundamental aspects of process-parameter estimacion.”
I E E E T r a i s . AUomatic Control, vol. A C 8 , pp. 347357,October. 1963.
[ a ] J. G. Goerner, L. X. Gerhardt, and F. D. Powell, “The application of error-
correcting learmng machnes to linear dynamic systems,” Proc, S a t l . Elec-
tron. Conf.,vol. 21, pp. 541-546, 1965.
[3] J. E: Gibson and J. S. Meditch, “Adaptive control re>.ien.: vol. 1, a class of
p r d c t i v ea d a p t i v e cont.rols,” FlightControl Lab., USAF Aeronautical
Sys. Div., Tech. Rept. ASD-TDR-~Gl-28. September.1965.
[4] H. Kaufman and P. &I. DeRusso, Stability analym of predictive control
systems,”
?nee I € E E Trans. Automatic ControZ, 1-01.AC-11, pp. 455464, July
IJUU.
[ 5 ] D. Graupe and G. R. Cas+. “Xdaptive control by predictive identification
and optimization,” Proc. A d . Electron. Conf., vol. 22, PP. 59C594, October
1966.
T h e s y s t e m closed-loop t.ransfer function is thus

A Hyperstability Criterion for

Model Reference
Zmmpk 2 Adaptive Control Systems
If ~ A ( T )= 1, then
IOAN DORB LAND-U

Absfract-This paper considers the stability problem of the model

and yP/z/chas the form of (17) with
w = d / s / T ~r, = 4 3 7 8 .
TEST RESULTS
The theoreticd results were verijied by hybrid simulation with
an Electronics Associat,es 231R analog computer. The control was
calculated by instrumenting (7) and (8) as sbown in Fig. 3. The
sample-and-hold element near t.he top center of Fig. 3 ensures that
u ( t ) is constant during speedup. The int.egrator immediately u p
stream from the sample-and-hold element integrates d u l d r in fast
t,ime and holds the computed control u(t) in normal time. The
speedup factor used was 100 so t.hat 10 ms of fastArne computat.ion
produce an estimate of the next. one second of the syst,em error
trajectory.
Fig. 4 shornstep responses of the systemforExample 1. It
demonstrates the variation with TI of system natural frequency w
and the invariance of damping ratio r with changing TI.
reference adaptive control systems by means of the properties of
hyperstablesystems. A theorem concerning the hyperstability of
model reference adaptivecontrol systems ispresented. This theorem
directly gives a structure of the adaption mechanism. The results
presented here include all the results obtained by Butchart, Shack-
cloth, Parks, Winsor, Roy, and Dressler. The hyperstability approach
presented in this paper also allows for other solutions to the adaption
mechanism and represents a general method for studying this type
of adaptive systems. The results aredirectly applicable to the design
of model reference adaptive control systems and they wereverified
for some particular cases by analogical simulation.
I. IXTRODUCTION
Butchart and Schalicloth [3], Parks [4], Winsor and Roy [5] dis-
cussed the an&& and synt.hesis of model reference adaptive control
systems from the point of view of stabi1it.y. They used Lyapunov’s
second method for the st.udy of the stability of t.hese systems. More
general results can be obtained in the problem of analysis and syn-
SHORT PAPERS

thesis of model reference adaptive systems from the point of view of

stability, using Popov's results in the field of hypelstable systems
ill, P 1 .
11. DEFIXITIOKS
ASD NOTATIOSS: OF POPOV
SOMERESULTS
Consider the multivariable standard system represented in Fig. 1
and described by state equations of the folm Fig. 1. Standardmultivariablenonlinear control syatem.

2 = xz + x u 1 (1 1
v = Px (21
211 = -u. (3)
u ( t ) = g(v(T),t), T 5t (4)
where X , X, and P are matrices, 5, u., 211, and u are vectors. It is
assumed t.hat the pair [ P , N ] is completely obselvable, and the pair
[M,K]is completely controllable. It. is also assumed that the vectols
u and L' have t.he same dimension, and that 5 denotes a nonlinear de-
pendence (funct.ional dependence) between u and the values of v in
the interval 7 5 t . Consider also the subset of u,which satisfies the
following inequality for all t Fig. 2. Multivariable model referenceadaptive control system.

which define the real syst.em; C is a T X n dimensional constant out-

put matrix; D is a T X T dimensional constant. mat,rk which defines
where depends on the initial state of the s>-st.emand eventually the linear processing block of generalized error; &,Bs, F, are vectors
of sup 0 < < t ,( x ( ~ y 1 ,but does not depend on time t. which correspond to the model out.put, the real system output,, and
t.hegeneralized error. and X denote a nonlinear dependence between
Definitian
elements of the matrices A s @ )and & ( t ) and t.he values of o in the
The system (1)-(4)is termed asymptotically hyperstable, if for interval T 5 t. For these systems t.he adaptive response for a given
any u ( t ) belonging to the subset defined by (j),the null solution of input u ( t )is considered.
the system isasymptot.ically stable in the large. At thesame time t.he
following inequality holds Dejkition
Ilz(t) ;[ 5 k ( ; ( 2 ( 011) + 61, Yt 2 0, k,6 > 0. The adaptive response of a model reference adaptive control sys-
tem, described by ( 6 t ( 1 3 ) for a given input. ~ ( t )is, defined as the
The Popov theorem for asymptotic hyperstability of system (1)-(4) evolution of t.his system, starting from the following situation
is the following.
[AM - AS(4)l # 0
Theorem
[By - Bs(t0)l # 0, t = to
Necessary and sufficient condit.ions, inorderthat t.he system,
-described by (1)-(4) and t.he inequality ( 5 ) , be an asymptotically with the assumption that A & ) and B d t ) depend only on the adapta-
hyperstable system, are that. t.ion mechanism for t > ta.
1 ) the transfer mat.rix from u1 to V: Z ( s ) = P(s1 - be
strictly positive real (in the sense tha.t Z ( s ) is positive real for all s); IB. HYPERSTABILITY
COSDITIONS
FOR MODEL REFERENCE
2) all the poles of Z ( s ) lie in t,he half plane Re s < 0; -ADAPTIVE CONTROL SI-STEMS
+
3) Z ( j w ) ZI*(jw)should be positive definit.e Hermitian for all Theorem
real w [8], [91.
Necessary and sufIicient. conditions in orderthat those model
PROBLEM
111. T H ESTABILITY FOR M O D E L REFEREXCE reference adaptive cont.rol syst.ems, described by (6)-(13) be an
SYSTEMS
ADAPTIVECOKTROL asymptotically hyperstable system, are that
Consider a multivariable model reference adapt,ive control system 1) the t.ransfer mat,rix Z ( s ) = DC(sI - -4,u)-I be strict,ly positive
with m inputs and r outputs represeded symbolically in Fig. 2 and real;
described by the following equations 2 ) the vectors [ A M - As(t)]y; [BM- Bs(t)lu,v be of the same di-
X = A.@ + B3r~ (6 )
mension;
3) the computing block of the mat.rices ds(t),& s ( t ) must intro-
e,<= cx (7) duce functions with the following form

?j = B s ( t ) y + Bs(t)u (8) +(t) = [ y z j ( t ) ]= [ ~ g ~ i y j ] aIi-positive

, constant. (14)

6s = cy (9) I< (t) E [?&)I = [&viuj], &,-positive constant. (1.5)

B = e.u - e.; (10) &marks

T7 = Da (11) Condit.ion 2 ) of the Theorem may be interpreted as follows: the
dimension of v (which is identical with the dimension of a) must be
As(t) = @(V(.),t), T 5t (12) equal to the number of lines of AS@)and Bs(t),respectively, which
B.S(t) = J<(V(T),t), T 5t (13) contain elements not identical to the corresponding elements of A x
and B M . At the same time &(t) and Bs(t) must have the same
where AM and BH are respectively n X n and n X m dimensional number of lines which are not identical to those of A x and B,w.
constant mat.rices which d e h e t h e model; A s ( t ) and B s ( t ) are re- Proof: 1)The system described by (6t(13) can be represent.ed by a
spectively n x n and n X m dimensional time-variable matrices set of equations of the form (1)-(4). The transfer matrix of the
554 11,:EK T R A X S A C T I O N S O N AUTOb1.iTIC CONTROL, O C M B R R 1969

linear block in the equivalent syst,em is

Z ( S ) = DC(SI - A M - ' .
From ( i ) ,(9), and (10) one obtains
E = C(a - y) = c,

which, from (12), (13), and (18), yields

w(t) = -w ~ ( t )= $ ( t ) ( ' T ) , f ) , 7 5 f. (211
Equations (19F(21), obtained from (6)-(13), are similar to equa-
tions (1 )-(4) of the standardnonlinear system.The transfermatrix of
the linear block is the following
Z ( s ) = DC(s1 - &I)-'. (22)

For asymptotic hyperstability the strict positive realness of Z(s) is

required. The necessity of the fiwt condition of the Theorem is which are satisfied for all fnnctions u,(t), yj(t), and vi(t). Thus the
therebv proved. third assumption of the Theorem asures the condition ( 5 ) for the
2 ) I t will be proved t.hat an inequality of the form ( 5 ) is satisfied application of the Popov results.
if The a,ssumptions of the Theorem are at the same time sllfficient,
because if an inequality of type ( * 5 ) holds, the necessary and sufficient
a(()= [p,j(t)] = [cuijviyj], a,,-positive constant condition for hyperstability is that. Z ( s ) be strictly positive real.
74t) = [ v i j ( ( ) ]= [bijc~uj], 0,j-positive constant
Remarks
with the condition that [A.u - As(t)]y, [B.v - B s ( ~ ) ] ube
, P of the One can also find other forms of the third condition for hyper-
same dimension. The inequality (j),corresponding to the ayxtem de- stability of model reference adaptive control systems. These forms
scribed by (19)-('21), becomes can appear by finding new rolnticnla for the integral equation (23).

(23) Particular Case 1

Consider the model reference adaptive control system represented
The first condition, in order to satisfy the inequality, ('23) is that. in Fig. 3 and described by the following equations
the vectors w and v have the same dimensions, [A.w - As(t)]y and
[B.,f - Bs(t)]u,v,respectively. Thus, the necessity of the second as- (34)
sumpt.ion of the Theorem is proved.
From (18) and (21) one obtains

w = [Ul,] =
L n -
j= 1
(aJfij - asii(t))?/j

1
m
- (b.qij - bsij(t)bj , 1 _< i 5 IP. (24)
(37 1
j=1

Kow inequa1it.y (23) yields

dia(f) = t (35)

2 5 [L'-
(nl(V(7),f), T I

1=1 J=1
(Uuij - U ~ i j ( ~ ) ) L l j ( r ) U i (d~r )
1 6?2(t) = ?i(V(T),f),

Necmsary and sufficient. conditions, inorder

T

thatthe
< t.
model
reference adaptive control system described by (34F(39) define an
(39)

asymptotically hypelstable system are that

1) the transfer funct.ion
1

be strictly positive real:

SHORT PAPERS 555

adaptat.ion. The results of this paper are applicable directly to the

synthesis of model reference adaptive cont.ro1sgst.ems. Some partieu-
lsr cases of the t.heorem were verified by analogical simulation.

ACKNOWLEDGMENT

Theauthor is grateful to Prof. V . &I. Popov, member of the

Romanian Academy, for very useful discussions.

REFICRHWXS
[ l ] 1’. M;,Popov, “The solution of a new stability problem for controlled sys-
tems, dutomatzon and RemoteControl rol. 24, pp. 1-23, January1963.
[2I -, “Hy,perstahiIity of automatic cokrol systems with several non-linear
elements, Reo. Roum.Sci.Tech.,Sdr. Electrotech. et EnergOique, 1-01.9,
Fig. 3. Jiodelreferenceadaptivecontrolsystemwithsingleinputand inte no. 1, pp.35-451964.
grodifferential model ( p = d / & ) . R. L. Butchart And B. Shackcloth, “Synthesis of model reference adaptive
control systems by Liapunov’s second method,”Proc. 2nd IFAC Sump. on
ThforqpfSelf-Adaptise Control Systems. Kew York: Plenum,1966,pp.
14.5-152.
2) t,he computing block of the elements a ! & ) and &i2(t) must P. C. Parks, “Liapunov redesign of model reference adaptive control sys-
tems.” I E E E Trans. Aufomutic,Control,vol. AC-11, pp. 362-36i, July 1966.
produce functious with the following form C . A. Winsor and R. J. Roy, Design ai model reference adaptive control
systems bv Liapunov’ssecondmethod.” I E E E Trans. Automatic Control
d‘ P (Correspondence),,, vol. AC-13, p. 204, April 1968.
c.&) = ai 7v(l), i = 0, . .., h, cu,-positive constant (41) R. M . Dressler, A n approach to model-referencedadaptivecontrol sys-
tems,” I E E E Trans. Aufomatic Control, VOI. A C 1 2 . pp. 75-80, February
dt
1967.
L. A. Zadeh and C . A . Desoer, Linear Sgsiem Theory. New York:
McGraa-Hdl, 1963.
B. D . 0. Anderson, *.A simplified viewpoint of hyperstahiliiy.” I E B E
Trans. Automatic Control, 1-01.AC-13, pp. 292-294, June 1968.
E. A. Guillemin, The Mathematics of C i r c d Analysis. New York: Kiley,
1949, p. 32i.
Particular Case 8 I. D. Landau, 4 . V. Grossu, and St. Gavat, “L’utilisation de la command:
adaptive B I’aide d‘un modde dans la rbgulatian des moteurs Blectriques,
Consider the model reference adaptive control system dcwibed Automatisme, v?!. 13, pp. 146-152, 1968.
I. D . Landau,Analyse et synthese deseommandesadsptatives B I’aide
by the following equat,ions d’un modele par dCs methodesd’hpperstabilite,” d l d o m a t i - m ~vol.
. 14, no.
7 , pp. 301-309, 1969.

Stability of a Relay Servosystem

Abstract-This paper considers a servosystem containing a relay

Necessary and sufficient. conditions, in order thatthe model
reference adaptive control system described by the equat.ions (43)-
(47) define an asymptotically hyperstable system, are t.hat,
1) the transfer function
his'
i=O
be st.rictly positive real;
2 ) the computing block of g , ( t ) must. produce a function of the
following form
V. CONCLUSION
The Theorem given in t.his paper includes all the results obtained
by Butchart and Shackcloth [ 3 ] ,Parks [4], and Winsor and Roy [5],
using Lyapnnov‘s second method and the Dressler [6] results ob-
tained by a se1lsitivit.y method.
The procedure presented here may be wed also for solving t,he
cases it1 which one cannot. find a Lyapunov function, but, in which it
is possible tu evaluate an integral o f t.he form (.SI.
Other result5 in the problem of the hyperstabi1it.y of model refer-
ence control systems can be deduced by finding new solutions of
integral equations (23). It is probable that in this way one can find
solutions for the model reference adaptive systems in which only a
set of elements of the statemat.ri.u of the real system is accessible for
with dead zone and hysteresis. A frequency-domain stability cri-
terion is given using the Popov-type techniques, and it is shown that
if the linear subsystem in thefeedback loop contains a free integrator
and its frequency response satis6es this criterion, then the error
settles within the dead zone after a h i t e time.
I. INTRODUCTIOS
Becawe of the inherently at,tractive factors of a relay-type con-
troller, such as funct.iona1 simplicity, reliability, weight, and coat,
relay servosystems find wide application in indmtry. General
stability analysis of relay servosystems has been invest,igated by the
phase-plane approach and t.he describing function method [ I ] , [Z] .
In the case of a system containing an ideal relay, some reults based
onLyapunov’s second method [3], [4] and the Popov-type tech-
niques [SI are available.
Pakubovich considered zero-input qstenls with hysteresis non-
linearities and linear subsystem described by ordinary differential
equations, and derived frequency domain stability conditions using
the method of mat.rix inequalities [6], 171. The class of hysterezis
nonlinearities considered by Yakubovich is very broad; speci6cally
it contains discontinuous hysteresis (relay-hysteresis) such asthe one
treated in this paper, and t.he criteria may be applied to a system
wit.h such nonlinearit.y, provided that thesolution of the system equa-
tion is properly defined in a m-ay similar to what is usually done for
differentialequations with discontinuous right-hand aides.
The relay non1inearit.y considered in this paper, although specific,
is of practical importance; it is chamcterized by dead zone as well s
hysteresis. A more general class of linear subsystems than Yakubo-
Manuscript received October 30, 1968.
The aut.hors are with the Faculty of Engineering, Osaka University, Osaka,
Japan.