Structural convergence improvement schemes on adaptive control

Convergent behavior of adaptive control with the synthesis of the feedback structure is studied. A refinement of the error model or a modification of the feedback block can improve the rate of convergence, taking the tradeoff between robustness and fast convergence into account. A typical error model for adaptive control systems is shown. Generalized adaptive systems, instability mechanisms, and robust design methods are presented. Results on designing the feedback structure by the Lyapunov method are given. A generalized design tool for adaptive control algorithms is introduced which improves the rate of convergence. Simulation examples are included