Unification of some continuous-time adaptive control schemes
- 1 August 1979
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 24 (4), 588-592
- https://doi.org/10.1109/tac.1979.1102090
Abstract
Model reference adaptive regulators based on input-output descriptions are examined. By reinterpreting the concept of "augmented error," it is shown that there are no essential differences between the model reference adaptive algorithms and the self-tuning regulators. Both types of schemes can be thought of as composed of a parameter estimator and a control law, based on the parameter estimates. It is shown that many schemes proposed are special cases of a general algorithm. The positive real condition for model reference adaptive systems is also examined. It is shown that this condition is a consequence of the choice of the estimator and that it is not crucial for stability.Keywords
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