Robust Adaptive Control

  • Kumpati S. Narendra
  • Anuradha M. Annaswamy

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.

Keywords

Adaptive Control Adaptive System Reference Input Model Reference Adaptive Control Robust Adaptive Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1986

Authors and Affiliations

  • Kumpati S. Narendra
    • 1
  • Anuradha M. Annaswamy
    • 1
  1. 1.Center for Systems ScienceYale UniversityUSA

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