ADAPTIVE CONTROL OF LARGE SCALE SYSTEMS WITH REDUCED MODELS.

Abstract

This paper considers the robust redesign of decentralized adaptive controllers for a class of large scale systems formed of an arbitrary interconnection of subsystems with unknown parameters. In the design, a lower order model is assumed for each decoupled subsystem. However, the overall adaptive control scheme is analyzed in the presence of bounded external distrubances and unmodeled plant uncertainties. It is shown that, by properly choosing some design parameters in the adaptive laws, the decentralized adaptive control scheme is globally stable in the sense that all the signals in the closed loop are bounded for any bounded initial conditions, and the tracking/parameter errors converge to a small residual set.