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Global Stability of a Direct Adaptive Control Scheme With Respect to a Graph Topology

In: Adaptive and Learning Systems

Author

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  • L. Praly

    (CAI Ecole des Mines)

Abstract

We study the stability given by a modified model reference adaptive controller. Modifications are projections of the adapted parameters into a convex compact set and normalization of the signals entering the adaptation law by a weighted l 2-norm of the I/O signals. The plant is assumed to satisfy properties which are proved to be robust with respect to a graph topology based on μ-exponential stability. Global stability is established and the mean square tracking error is shown to converge to zero linearly with the unmodeled effects.

Suggested Citation

  • L. Praly, 1986. "Global Stability of a Direct Adaptive Control Scheme With Respect to a Graph Topology," Springer Books, in: Kumpati S. Narendra (ed.), Adaptive and Learning Systems, pages 57-72, Springer.
    • Handle: RePEc:spr:sprchp:978-1-4757-1895-9_4
    DOI: 10.1007/978-1-4757-1895-9_4
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