Stable hybrid adaptive control

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Abstract
This paper examines the asymptotic properties of a hybrid adaptive control scheme. While there are many different meanings of the word ‘hybrid’ control in the literature, we are referring to a scheme where the on-line parameter estimation and underlying control design are carried out in a discrete time using digital electronics and do not require any analog multiplications or divisions. This is of critical importance in practice since analog multipliers/dividers are subject to serious drift and offset errors. For such hybrid schemes we establish stability and an output tracking property without recourse to persistence of exitation. The proof of stability requires a sufficiently fast sampling rate for the discrete time parameter estimation and the underlying control design.

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