Second level adaption of the characteristic modeling

This paper addresses the fast adaption of the characteristic model-based golden-section adaptive control(CM-GSAC). The CM-GSAC is well-known for its simplicity and guaranteed transient performance, which depend on the projection of the identified parameters onto a bounded convex domain. In order to avoid excessive efforts in calculating those parameter bounds, a second level adaption procedure is introduced that determines a convex combination of a set of models. The weighted values of the unknown parameters are used for control. By introducing a projection in matrix form, the weighted values converge in a short period of time. Simulations validates the fast speed of convergence with projected second level adaption, as compared to that of the traditional single level adaption method.