Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Robust Adaptive Control

  • Anuradha M. AnnaswamyEmail author
  • Joseph E. Gaudio
Living reference work entry

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DOI: https://doi.org/10.1007/978-1-4471-5102-9_118-2

Abstract

Robust adaptive control pertains to the satisfactory behavior of adaptive control systems in the presence of nonparametric perturbations such as disturbances, unmodeled dynamics, and time delays. This entry covers the highlights of robust adaptive controllers, methods used, and results obtained. Both methods of achieving robustness, which include modifications in the adaptive law and persistent excitation in the reference input, are presented. In both cases, results obtained for robustness to disturbances and unmodeled dynamics are discussed.

Keywords

Dead zone Global boundedness Parameter projection Persistent excitation Robustness |e|-modification Magnitude limits 
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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2020

Authors and Affiliations

  1. 1.Active-adaptive Control Laboratory, Department of Mechanical EngineeringMassachusetts Institute of TechnologyCambridgeUSA

Section editors and affiliations

  • Richard Hume Middleton
    • 1
  1. 1.School of Electrical Engineering and Computer ScienceThe University of NewcastleCallaghanAustralia