L1 adaptive control of uncertain networked control systems

This paper studies the real-time implementation of output-feedback L₁ adaptive controller over real-time networks. Event-triggering schedules the data transmission dependent upon errors exceeding certain threshold. A continuous-time L₁ adaptive control algorithm is provided. Stability conditions are also provided in terms of sampling frequency, event thresholds, and allowable transmission delays. We show that the difference between the states of the resulting networked systems and an ideal model is uniformly bounded, which can be further reduced by increasing the sampling frequency and communication frequency.