Class of unmodeled dynamics in robust adaptive control.

Abstract

The authors use time-domain and frequency-domain bounds to characterize the class of allowable unmodeled dynamics in robust adaptive control. This class is a general one and includes time delays, distributed systems, etc. It is also shown that the class of allowable uncertainty can be further expanded to be qualitatively similar to that allowed in nonadaptive robust control by incorporating a slow filter in the plant. The time and frequency domain bounds can be improved by properly choosing the filter parameters.