Robust model reference adaptive controllers, Part I: Stability analysis
- 1 December 1984
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 47, 1009-1014
- https://doi.org/10.1109/cdc.1984.272166
Abstract
We study the stability given by a modified model reference adaptive controller. Modifications are projections of the adapted parameters into a compact set, normalization of the signals entering the adaptation law by a weighted L2-norm of the I/O signals. The a priori knowledge about the plant is implicit: order of a stabilizing regulator, compact set containing its coefficients. Global boundedness of the signals is established using both the error to signal approach of [10] and the operator theoretic approach of [8]. A conicity condition is involved but its robustness with respect to the graph topology of [20] is proved.Keywords
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