Robust Discrete-Time Adaptive Control

  • Petros Ioannou
  • Kostas Tsakalis

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.

Keywords

Adaptive Control Tracking Error Adaptive Controller Controller Parameter Unmodeled Dynamic 
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

  • Petros Ioannou
    • 1
  • Kostas Tsakalis
    • 1
  1. 1.University of Southern California EE-SystemsLos AngelesUSA

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