Discrete-time decentralized adaptive control

Abstract

A discrete-time decentralized model reference adaptive controller is presented for a large-scale system composed of N interconnected single-input single-output linear subsystems with unknown parameters and unmodeled dynamics. Each local adaptive law utilizes a normalizing signal which is generated by using information of the delayed inputs and outputs of other subsystems. The delay d in exchanging input-output information between subsystems is required to be finite for global stability and robustness. However, this delay may be crucial for performance since a large d leads to a larger bound for the residual tracking error. © 1988.