Stability and robustness properties of a simple adaptive controller

Author

Bakker, R. ; Annaswamy, A.M.

Author_Institution

Dept. of Mech. Eng., MIT, Cambridge, MA, USA

Volume

41

Issue

9

fYear

1996

fDate

9/1/1996 12:00:00 AM

Firstpage

1352

Lastpage

1358

Abstract

A low-order adaptive tracking controller is proposed for linear time-invariant plants with a relative degree not exceeding two. The order of the plant is not required to be known a priori. The algorithm is robustly stable with respect to small linear time-invariant plant perturbations and bounded disturbances. The robustness is achieved by using a projection of the parameter estimates in the control law. An additional a priori information needed to design the controller is bounds on the plant parameters. In the absence of plant perturbations and disturbances, perfect tracking is obtained

Keywords

adaptive control; parameter estimation; robust control; tracking; bounded disturbances; linear time-invariant plants; low-order adaptive tracking controller; parameter estimates; robustness properties; simple adaptive controller; small linear time-invariant plant perturbations; tracking; Adaptive control; Adaptive systems; Automatic control; Control systems; Parameter estimation; Programmable control; Proportional control; Robust control; Robust stability; Robustness;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.536509

Filename

536509