A Robust Model Following Controller

A control design Methodology applicable to linear, time-varying systems with bounded, Lebesgue measurable parametric uncertainty as well as a class of nonlinear, time-varying systemns is presented in this paper. A portion of this design methodology was suggested by the robust feedback control studies of Petersen in [7] and Schmitendorf in [8]-[9]. However, instead of considering asymptotic stability, uniform ultimate boundedness, as presented in Corless and Leitmann in [4] and Barmish and Leitmann in [51, is considered. The design strategy proposed combines results from robust feedback control with the signal synthesis Adaptive Model Following Control (AMFC) approach of Landau in [11]. In addition to demonstrating robustness with respect to bounded, Lebesgue measurable parametric uncertainty, suggestions are made for considering the effect of the presence of frequency domain uncertainties.