Robust and adaptive control — Fidelity or a free relationship?

Abstract

Robust and adaptive control are essentially meant to solve the same control problem: Given an uncertain LTI model set with the assumption that the controlled plant slowly drifts or occasionally jumps in the allowed model set, find a controller that satisfies the given servo and disturbance rejection specifications. Specifications on the transient response to a sudden plant change or “plant jump” are easily incorporated into the robust control problem, and if a solution is found, the robust control system does indeed exhibit satisfactory transients to plant jumps. The reason to use adaptive control is its ability, when the plant does not jump, to maintain the given specifications with a lower-gain control action (or to achieve tighter specifications), and also to solve the control problem for a larger uncertainty set than a robust controller. Certainly Equivalence based adaptive controllers, however, often exhibit insufficient robustness and unsatisfactory transients to plant jumps. It is therefore suggested in this paper that adaptive control always be built on top of a robust controller in order to marry the advantages of robust and adaptive control. The concept is called Adaptive Robust Control. It may be compared with Gain Scheduling, Two-Time Scale Adaptive Control, Intermittent Adaptive Control, Repeated Auto-Tuning, or Switched Adaptive Control, with the important difference that the control is switched between robust controllers that are based on plant uncertainty sets that take into account not only the currently estimated plant model set but also the possible jumps and drifts that may occur until the earliest next time the controller can be updated.