Robust Adaptive Controller with Zero Residual Tracking Errors

Abstract

The adaptive control of a plant whose dominant part has transfer function with relative degree n* = 1 has been considered in the presence of parasifics and disturbances. A new adaptive law is proposed which guarantees the existence of a large region of attraction from which all signals are bounded and the tracking error converges to a small residual set. In contrast to the adaptive law used in [1], [2] the new adaptive law guarantees a smaller residual set for the tracking error, which reduces to zero when the parasitics and disturbances disappear. Copyright © 1986 by The Institute of Electrical and Electronics Engineers, Inc.