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Some key concepts of strucred singular value theory for the stability and performance-robustness analysis of linear time-invariant multivariable systems are stated. Using a set-invariance principle, the theory is then generalized to allow for nonlinear and/or time-varying nominal systems and uncertainties. The general theory is then re-specialized to the case of nominally linear time-invariant systems...
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...
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