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Interpretation of the robust stability conditions appearing in adaptive control

  • R. Ortega
  • I. Landau
Session 2 Stability I
  • 120 Downloads
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 62)

Abstract

Some recent results on robust stability of direct discrete time adaptive controllers are analyzed through simple examples. The simultaneous existence of reduced order modelling and bounded output disturbances which is the rule and not the exception in practice, is shown to lead the estimator to a tradeoff between disturbance rejection and performance (in the sense of model following).

Keywords

Adaptive Control Robust Stability Reduce Order Modelling Adaptive Controller Root Locus 
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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References

  1. [1]
    Kosut, R.L., Friedlander, B. "Performance robustness properties of adaptive control systems". 21st IEEE CDC Orlando Fl. Dec. 8–10, 1982.Google Scholar
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    Gawthrop, P.J. "On the stability and convergence of a self-tuning controller". Int. J. Control, Vol. 31, No5, pp.973–98.Google Scholar
  3. [3]
    Ortega, R., Praly, L., Landau I.D. "Robustness of discrete adaptive controllers: quantification and improvement". IEEE Trans. on Aut. Cont. (submitted).Google Scholar
  4. [4]
    Ortega, R. "Robustness enhancement of adaptive controllers by incorporation of process a priori knowledge". Syst. and Control Letters. (To appear).Google Scholar
  5. [5]
    Safonov, M.G. "Stability robustness of multivariable feedback systems". MIT Press 1980.Google Scholar
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    Landau, I.D. "Adaptive control-the model reference approach". New York, Dekker, 1979.Google Scholar
  7. [7]
    Ortega, R., M'Saad, M. Canudas, C. "Practical requirements and theoretical results in robust adaptive control". 9th IFAC Congress. Budapest, Hun. 2–6 July, 1984.Google Scholar

Copyright information

© Springer-Verlag 1984

Authors and Affiliations

  • R. Ortega
    • 1
  • I. Landau
    • 1
  1. 1.Greco (69) Systèmes Adaptatifs (C.N.R.S.) et Laboratoire d'Automatique de Grenoble E.N.S.I.E.G.Saint-Martin-d'Hères

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