L1 adaptive output-feedback controller for linear time-varying reference systems

This paper presents the L₁ adaptive controller for a class of uncertain systems in the presence of time and state-dependent unknown nonlinearities. The L₁ controller achieves performance specifications, defined via a time-varying reference system, using output-feedback. We prove that subject to standard regularity assumptions, the L₁ adaptive controller ensures uniformly bounded transient and steady-state tracking for system´s input and output signals simultaneously. The performance bounds can be systematically improved by reducing the sample time. Simulations verify the theoretical findings.