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Systems containing both real parametric uncertainty and weighted-ball-in-H?? uncertainty are addressed. The concept of robustness given perfect parameter information is reviewed. Robust parameter estimation laws designed for maximal convergence in the presence of non-parametric ball-in-H?? uncertainty are reviewed. It is shown that if the control laws would produce a robust design given perfect parameter...
A general adaptive control structure is described which includes, as a special case, conventional model reference adaptive controllers. The relationship between controller parameter errors and measured signal errors are described in a form suitable for application of many parameter estimation techniques. A simplified missile pitch-axis example is given to illustrate the application of the general...
The paper presents a frequency-domain estimator which can identify both a nominal model of a plant as well as a frequency-domain bounding function on the modeling error associated with this nominal model. This estimator, which we call a robust estimator, can be used in conjunction with a robust control-law redesign algorithm to form a robust adaptive controller.
In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain why adaptive controllers can perform robustly in certain practical situations, while possibly failing in other situations. In particular, if the bandwidth constraints on a control systems...
The recently obtained evidence of the need for a positive real element in an adaptive system leaves us with a disturbing gap in adaptive control theory. It is a fact that in some applications adaptive controllers are performing well in practice. How can these systems behave well in practical situations which must contain modeling error? This paper introduces a preliminary result which indicates that...
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