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Robust Discrete-Time Adaptive Control

In: Adaptive and Learning Systems

Author

Listed:
  • Petros Ioannou

    (University of Southern California EE-Systems)

  • Kostas Tsakalis

    (University of Southern California EE-Systems)

Abstract

This paper proposes a discrete-time model reference adaptive control algorithm which is robust with respect to additive plant uncertainties. The algorithm employs the same controller structure as in [1] but a different adaptive law for adjusting the controller parameters. If the plant uncertainty is “small” the algorithm guarantees the boundedness of all signals in the adaptive loop and “small” residual tracking errors for any bounded initial conditions. In the absence of plant uncertainties the algorithm guarantees zero residual tracking errors.

Suggested Citation

  • Petros Ioannou & Kostas Tsakalis, 1986. "Robust Discrete-Time Adaptive Control," Springer Books, in: Kumpati S. Narendra (ed.), Adaptive and Learning Systems, pages 73-85, Springer.
    • Handle: RePEc:spr:sprchp:978-1-4757-1895-9_5
    DOI: 10.1007/978-1-4757-1895-9_5
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