Practical implications of recent results in robustness of adaptive control schemes

Adaptive control is finding its way to the real world life, mainly as result of considerable advances in computer technology and understanding of adaptive control theory. An important number of industrial feasibility studies have been performed and several general purpuse adaptive controllers are now commercially available. In this paper the authors aim at providing a new design approach that allows to obtain a LQ-adaptive controller with an asymptotic reference partial state tracking capability while ensuring fundamental engineering features such as robust stable input-output behaviour, dynamic tracking, offset-free performance and safe operation.