Rate Constrained Robust Adaptive Control

Stability analysis is presented for discrete time pole placement adaptive control systems with input rate saturation constraints in this paper. It is shown that with appropriate controller design, the robust adaptive control system is stable for a class of stable minimum phase plants in the sense that all the signals in the loop remain bounded in the presence of modelling uncertainties and disturbances. It is also shown that if the plant is free from modelling uncertainties and disturbances and the control input rate remains unsaturated for a period of time, then the closed loop adaptive control system will asymptotically be characterized by the desired closed loop poles within this time period.