Transient performance improvement in dynamic certainty equivalent adaptive controllers by including a fixed compensator

We propose a modified Morse´s dynamic certainty equivalent (DyCE) adaptive controllers in the continuous-time, single-input single-output linear time-invariant plant for the purpose of improving the transient performance. In the new scheme the additive feedback loop through a fixed compensator, which means a non-adaptive one, is included. Furthermore a design method for the fixed compensator is also given, and performance analysis for the proposed DyCE adaptive controller is examined in terms of the mean square tracking error criterion and the L_∞ tracking error bound. According to the results of the paper the transient performance can be improved arbitrarily by the properly designed fixed compensator. Finally a numerical example is illustrated in order to show the effectiveness of the proposed method