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We develop a Linear Matrix Inequality (LMI) tool for analyzing the stability and performance of adaptive controllers that employ sigma-modification. The formulation involves recasting the error dynamics composed of the tracking error and the weight estimator error into a linear parameter varying form. We show how stability, convergence rate, domain of attraction, and the transient and steady state...
Motion control systems have found their application in various industry products. Common issues encountered when designing this type of systems are nonlinearities and uncertainties (e.g., unknown parameters, unmodeled dynamics, and disturbances). In this paper, we study controller design for a class of motion systems with rotary components. The systems are assumed to have unknown parameters which...
This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence...
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