A new class of nonlinear robust adaptive controllers
Date
1996Source
International Journal of ControlVolume
65Issue
5Pages
745-769Google Scholar check
Keyword(s):
Metadata
Show full item recordAbstract
Recently, a new class of adaptive control schemes, motivated from nonlinear systems theory, has been proposed for minimum phase linear time invariant plants. Under certain assumptions on the plant transfer function, these schemes guarantee uniform signal boundedness and good transient and steady-state response for the regulation or tracking error. Despite the good performance properties of the proposed schemes, their practicality relies very much on their robustness properties with respect to plant model uncertainties. These robustness properties have to be established and understood for application purposes. The purpose of this paper is to analyse the stability properties of this new class of adaptive controllers in the presence of ‘ reasonable’ classes of plant model uncertainties. We first indicate that the same non-robust behaviour that appears in the case of the traditional adaptive controllers without modifications may be exhibited by this new class of adaptive controller. We then propose design modifications and establish robustness with respect to a general class of multiplicative plant perturbations and bounded input-output disturbances. © 1996 Taylor & Francis Ltd.
Collections
Cite as
Related items
Showing items related by title, author, creator and subject.
-
Conference Object
A scalable iterative convex design for nonlinear systems
Baldi, S.; Ioannou, Petros A.; Kosmatopoulos, E. B. (2012)A recently developed control scheme for approximately optimal control of nonlinear systems is the so-called Convex Control Design (ConvCD) methodology, that transforms the control problem of generic nonlinear systems into ...
-
Article
Multiple model adaptive control with mixing
Kuipers, M.; Ioannou, Petros A. (2010)Despite the remarkable theoretical accomplishments and successful applications of adaptive control, the field is not sufficiently mature to solve challenging control problems where strict performance and robustness guarantees ...
-
Article
Convex design control for practical nonlinear systems
Baldi, S.; Michailidis, I.; Kosmatopoulos, E. B.; Papachristodoulou, A.; Ioannou, Petros A. (2014)This paper describes a new control scheme for approximately optimal control (AOC) of nonlinear systems, convex control design (ConvCD). The key idea of ConvCD is to transform the approximate optimal control problem into a ...