Adaptive control with loop transfer recovery: A Kalman filter approach

In this paper we develop a Kalman filter based adaptive controller for multivariable uncertain systems with loop transfer recovery of an associated reference system. This approach increases the level of confidence of adaptive control systems by providing a means for preserving stability margins even under uncertainty and failures. In addition, it results in an optimization based time-varying adaptation gain. An example is provided to illustrate the efficacy of the proposed approach.