Frequency-limited adaptive control architecture for transient response improvement

This paper presents a new adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The proposed reference system captures a desired closed-loop dynamical system behavior modified by a mismatch term representing the high-frequency content between the uncertain dynamical system and this reference system, i.e., the system error. In particular, this mismatch term allows one to limit the frequency content of the system error dynamics, which is used to drive the adaptive controller. It is shown that this key feature of our framework yields fast adaptation without incurring high-frequency oscillations in the transient performance.