ℌ2 adaptive control

Model reference adaptive control laws are derived using an ℌ2 optimization approach. In addition, this leads to ℌ2 forms of well known σ- and ℯ- modification based adaptive control architectures. It is shown that ℌ2 adaptive control leads to smaller tracking errors without requiring high adaptation gain. Instead it provides an optimal time varying adaptation gain that results in improved performance without tuning of the adaptation gain.