Robust Model Reference Adaptive Control

Abstract

We propose a new model reference adaptive control algorithm and show that it provides the robust stability of the resulting closed-loop adaptive control system with respect to unmodeled plant uncertainties. The robustness is achieved by using a relative error signal in combination with a dead zone and a projection in the adaptive law. The extra a priori information needed to design the adaptive law, are bounds on the plant parameters and an exponential bound on the impulse response of the inverse plant transfer function. 0018-9286/86/0200-0127901.00 Show more