自适应控制设计

设计能够适应不断变化的过程信息的控制器
自 R2021a 起

如果控制系统包含随时间变化的不确定性，如未建模的系统动态特性和扰动，则自适应控制器可以通过实时调整其参数来补偿变化的过程信息。通过执行此操作，此类控制器可以实现期望的参考跟踪，即使被控对象动态中存在不确定性也是如此。

Simulink^® Control Design™ 软件为以下实时自适应控制方法提供几个 Simulink 模块。

模块

Extremum Seeking Control	Compute controller parameters in real time by maximizing objective function
Model Reference Adaptive Control	Compute control actions to make controlled system track reference model (自 R2021b 起)
Active Disturbance Rejection Control	为具有未知动态特性和扰动的被控对象设计控制器 (自 R2022b 起)
Extended State Observer	Estimate states and disturbances of a system (自 R2024a 起)
Disturbance Compensator	Modify control actions to compensate for unknown dynamics and disturbances (自 R2024a 起)

Extremum Seeking Control
Update controller parameters to maximize an objective function in the presence of unknown system dynamics.
Extremum Seeking Control for Reference Model Tracking of Uncertain Systems
Track a reference plant model by adapting feedforward and feedback gains for an uncertain dynamical system.
Anti-Lock Braking Using Extremum Seeking Control
Design an extremum seeking controller that maximizes the friction coefficient of an ABS system to achieve the shortest stopping distance.

模型参考自适应控制
计算控制动作，使不确定的受控系统能够跟踪给定参考被控对象模型的行为。
Model Reference Adaptive Control of Satellite Spin
Design an MRAC controller that adapts plant uncertainty model parameters to achieve performance that matches an ideal reference model.
一阶系统的间接模型参考自适应控制
设计一个间接 MRAC 控制器，用于估计未知一阶系统的属性。
Indirect MRAC Control of Mass-Spring-Damper System
Design an indirect MRAC controller that estimates the parameters of an unknown MIMO system.

自抗扰控制
为具有未知动态特性和扰动的被控对象设计抗扰控制器。
为水箱系统设计自抗扰控制
为水箱模型设计 ADRC，并与增益调度 PID 控制器比较性能。
Design Active Disturbance Rejection Control for BLDC Speed Control Using PWM
Design ADRC for a brushless DC motor speed controller using pulse width modulation.

Control Design and Disturbance Compensation Using Extended State Observers
Estimate and compensate for disturbances and unknown dynamics in linear time-invariant or linear time-varying systems. (自 R2024a 起)
Apply Extended State Observer for Reference Tracking of DC Motor
Improve the disturbance rejection performance of a PID controller using the Extended State Observer block. (自 R2024a 起)
Compensate for Disturbances in Spring-Mass-Damper System
Compensate for disturbances in a spring-mass-damper system using the Disturbance Compensator block. (自 R2024a 起)

Sliding Mode Control Design for Mass-Spring-Damper System
A sliding mode controller defines a sliding surface that the system state converges to and remains on. (自 R2024a 起)
Sliding Mode Control Design for a Robotic Manipulator
Create a sliding mode controller for a robotic manipulator with two actuated joints. (自 R2024a 起)

Model-Free Iterative Learning Control of SISO System
Implement an ILC controller to improve closed-loop trajectory tracking performance. (自 R2024a 起)