Title :
Adaptive Robust Control: A New Approach To The Adaptive Control Of Linear Systems
Author_Institution :
Department of Electronics and Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, JAPAN kzliu@faculty.chiba-u.jp
Abstract :
In this paper, a new adaptive control framework for LTI parametric systems based on an ISS small-gain-like condition and Kreisselmeier observer is proposed. The control structure composes of a constant state feedback, a Kreisselmeier observer and an adaptive law. This approach achieves global exponential stability subject to robust controllability, robust observability and a small-gain condition. It overcomes the shortcomings of the classic adaptive control methods and handles MIMO systems straightforwardly.
Keywords :
Adaptive control; Controllability; Linear systems; Lyapunov method; MIMO; Observability; Programmable control; Robust control; Robust stability; State feedback;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582144
