y
r
UNKNOWN
PLANT
u
0 100 200 300
-500
0
500
time (sec)
0 100 200 300
-200
0
200
400
time (2 to 300 sec)
control signal u
0 0.5 1 1.5 2
-200
0
200
400
time (0 to 2 sec)
reference and error signals
tracking error
reference signal
0 100 200 300
-2
-1
0
1
time (2 to 300 sec)
reference and error signals
tracking error
reference signal
0 100 200 300
0
5
10
time (sec)
10
0
-40
-20
0
frequency (rad/sec)
θ
1
θ
2
θ
3
θ
4
θ
1,
θ
2,
θ
3,
θ
4
(||W
1
(y-r)||
t2
+||W
2
u||
t2
)/||r||
t2
2
2
2
|W
1
(jω)|
|Ter(j ω)|
|W| and |Ter| (db)
-1
1010
-3 4
100
th3
-100
100
-100
100
-400
400
th1
th2
th3
th3
th3
t=1sec
t=5sec
t=10sec
t=50sec
t=100sec
t=200sec
t=300sec
-100
θ
θ
current time : 0 sec
θ
4
=
θ
3
θ
1
100
100
100
100
100
100
100
100
100
100
100
100
100
100
-100
-100
-100
-100
-100
-100
-100
-100
-100
-100
-100
-100
-100
400
400
400
400
400
400
400
-400
-400
-400
-400
-400
-400
-400
400
100
-400
-100
-100
100
θ
2
-100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
