The theory and design of adaptive internal model control schemes

Develops a systematic theory for the design and analysis of adaptive internal model control schemes. The ubiquitous certainty equivalence principle of adaptive control is used to combine a robust adaptive law with robust internal model controllers to obtain adaptive internal model control schemes with provable guarantees of stability and robustness. Specific controller structures considered include those of the model reference, “partial” pole placement, and H₂ and H_∞ optimal control types. The results here not only provide a theoretical basis for analytically justifying some of the reported industrial adaptive internal model control schemes but also open up the possibility of synthesizing new ones by simply combining a robust adaptive law with a robust internal model controller structure