Derivative-free decentralized adaptive control of large-scale interconnected uncertain systems

This paper presents a derivative-free decentralized adaptive control architecture for large-scale interconnected systems with matched and unmatched time-varying uncertainties and interconnections. The assumption of unknown constant ideal weights is generalized to the existence of time-varying weights without assuming the existence of their derivatives in a time interval. As a result, the proposed approach is particularly well suited for disturbance rejection, and for adaptation in the presence of sudden change in each subsystem´s uncertain dynamics, such as might be due to damage.