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Robust Adaptive Control

In: Adaptive and Learning Systems

Author

Listed:
  • Kumpati S. Narendra

    (Yale University, Center for Systems Science)

  • Anuradha M. Annaswamy

    (Yale University, Center for Systems Science)

Abstract

Recent developments in robust adaptive control in the presence of bounded as well as state-dependent disturbances are discussed in the paper. The various approaches that have been suggested in the literature using modifications of a standard adaptive law, as well as arguments involving persistent excitation of the reference input, are presented. While the paper is partly tutorial, it also contains several new results due to the authors. These include a new adaptive law, the proof of global boundedness of all signals in the presence of bounded disturbances using persistent excitation, and the extension of these results to the adaptive control problem with state-dependent disturbances. Both local results and global results reported in the literature are discussed, but a greater emphasis is placed on those that are global in character. The implications of these results for future research on the reduced order model problem, are discussed towards the end of the paper.

Suggested Citation

  • Kumpati S. Narendra & Anuradha M. Annaswamy, 1986. "Robust Adaptive Control," Springer Books, in: Kumpati S. Narendra (ed.), Adaptive and Learning Systems, pages 3-31, Springer.
    • Handle: RePEc:spr:sprchp:978-1-4757-1895-9_1
    DOI: 10.1007/978-1-4757-1895-9_1
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