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A well known problem in indirect adaptive control algorithms based on certainty equivalence, is formed by the requirement that the estimates of the system-parameters have to satisfy certain regularity conditions, such as reachability. The usual algorithms cannot ensure that estimates will always be regular, unless extra knowledge of the system to be controlled is available. In this note we will present...
An algorithm for adaptive pole placement for a restricted class of systems is proposed. The asymptotic properties of the algorithm are analysed by studying the invariant points and the asymptotic active part of the state space. A weak form of self-tuning is derived.
Adaptive controllers based on high gain feedback suffer from lack of robustness with respect to bounded disturbances. Existing modifications prevent the feedback gain from drifting, but introduce solutions that, even in the absence of disturbances, do not achieve regulation. In this paper a further modification that maintains the robustness and rules out undesirable solutions when disturbances are...
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