Stability analysis and robustness of a large-scale systems with decentralized adaptive controllers

Decentralized adaptive control (DAC) of a class of large scale systems formed by an arbitrary linear interconnection of linear time-invariant subsystems with unknown parameters is considered. It is shown that sufficient richness of each reference input ri and negative definiteness of a matrix are sufficient conditions for boundedness of parameter error and tracking error. Robustness of the stability of the composite system to disturbances is discussed.