Further evaluation of the RMMAC method with time-varying parameters

We demonstrate, using Monte-Carlo simulations, the superior performance of the "Robust Multiple- Model Adaptive Control (RMMAC)" method for different time-varying uncertain parameter waveforms, performance bandwidths and constant disturbance intensities using the test example designed and studied in Refs. [1] and [2]. We further show that the RMMAC RMS performance is just about 10-16% worse than that obtained from a system that has perfect model identification (which is unrealizable), while remaining vastly superior to the performance associated with the best robust non-adaptive design.