On robust performance improvement through the windsurfer approach to adaptive robust control

In this paper it is shown that, given a stable strictly proper model of a stable strictly proper plant, we can improve the performance robustness of the closed-loop system through the windsurfer approach to adaptive robust control if the deterioration in performance robustness caused by increasing the closed-loop bandwidth resulted in a sufficiently high signal-to-noise ratio for a certain closed-loop output error. This is the key conclusion arising from an examination of a series of questions about the procedure that focus on what one would like to do, and what one can do. Situations that may cause the iterative identification and control design process in the windsurfer approach to terminate prematurely are also indicated