Stability and performance of nonlinear robust adaptive control
Date
1995Publisher
IEEESource
Proceedings of the IEEE Conference on Decision and ControlProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)
Volume
4Pages
3941-3946Google Scholar check
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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. In this paper we propose a modification that improves the robustness of these schemes with respect to a class of multiplicative uncertainties, without loss of performance. The parameter convergence properties of the proposed schemes are examined when the reference signal is dominantly rich.
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