The proof of global boundedness in the adaptive control using H/sup /spl infin// control law

A novel adaptive control scheme is proposed, in which H/sup /spl infin// control law is used and combined with robust parameter estimator to further improve the robustness. In order to validate the feasibility of the scheme, the authors have deduced the H/sup /spl infin// control law satisfying the global boundedness of adaptive control system in the presence of parametric uncertainties, unmodeled dynamics and bounded noises. The whole proof is based on the frozen time approach, brief and simple. Thus, there has been a rigorous theoretic support which allows us introduce H/sup /spl infin// robust control law into adaptive control. An adaptive control system satisfying the predefined robustness level can also be designed on the base of the new sufficient condition deduced.