ROBUST DISCRETE-TIME ADAPTIVE CONTROL.

Abstract

This paper proposes a discrete-time model reference adaptive control algorithm which is robust with respect to additive plant uncertainties. The algorithm employs an adaptive law for adjusting the controller parameters. If the plant uncertainty is 'small' the algorithm guarantees the boundedness of all signals in the adaptive loop and 'small' residual tracking errors for any bounded initial conditions. In the absence of plant uncertainties the algorithm guarantees zero residual tracking errors.