Error models for stable hybrid adaptive systems

This paper presents several stable adaptive algorithms for the control of hybrid and discrete systems in which the control parameters are adjusted at rates slower than those at which the systems operate. Continuous algorithms of an integral type, recently suggested in the literature [5] are also shown to belong to this class. From a practical standpoint, the infrequent adjustment of the control parameters makes for more robust adaptive control while from a theoretical point of view, the algorithms are attractive since they provide a unified framework for the design of continuous, hybrid, and discrete adaptive systems. Simulation results are included to indicate the type of responses that can be expected using the different algorithms.