Autonomous L1-adaptive controller with exact pole placement

A predictor device for a control device for controlling an actuating variable of a plant comprising an actuator controlled by the actuating variable, the plant having a state with at least one controlled variable detectable by a sensor, the control device comprising an adaptation device configured to generate a matched uncertainty signal and an unmatched uncertainty signal, and the control device further comprising an L1-adaptive control apparatus, the predictor device comprising:

• a state modelling device having a matched input, an unmatched input, and an output for an estimated state comprising at least one estimated variable;
• a converter modelling device having an input coupled to the output of the state modelling device, wherein the converter modelling device generates as an output an estimate of an actuator state of the actuator;
• a first feedback device having an input coupled to the output of the state modelling device and to the input of the converter modelling device, and the first feedback device further comprising an output for a first feedback signal generated from a first estimated variable that is output by the state modelling device;
• a second feedback device having an input coupled to the output of the state modelling device and to the input of the converter modelling device, and the second feedback device further comprising an output for a second feedback signal generated from a second estimated variable that is output by the state modelling device;
• a first combination device having a first input coupled to the output of the first feedback device, a second input to receive a measured or estimated actuator state, a third input to receive the matched uncertainty signal from the adaptation device, and an output coupled to the matched input of the state modelling device, wherein the first combination device generates a matched input signal by subtracting the first feedback signal from a sum of the measured or estimated actuator state and the matched uncertainty signal, and wherein the matched input signal generated by the first combination device is supplied to the matched input of the state modelling device;
• and
• a second combination device having a first input coupled to the output of the second feedback device, a second input to receive the unmatched uncertainty signal from the adaptation device, and an output coupled to the unmatched input of the state modelling device, wherein the second combination device generates an unmatched input signal by subtracting the second feedback signal from the unmatched uncertainty signal, and wherein the unmatched input signal generated by the second combination device is supplied to the unmatched input of the state modelling device;
• wherein the state modelling device is configured to estimate a behavior of the plant based on the matched input signal and the unmatched input signal, and is further configured to generate the estimated state.