A new robust adaptive control scheme for linear time varying plants

In a recent work, a new linear adaptive controller based on certainty-equivalence and backstepping design, which promises a level of transient and asymptotic performance comparable to that of the tuning functions adaptive backstepping controller, was proposed for linear time invariant systems. The proposal was supplemented with the robustness and performance analysis in the presence of modelling uncertainties. In this paper, the same idea is used to develop a new linear adaptive controller for linear time varying systems. The new adaptive control scheme guarantees robustness with respect to modelling errors via its "linearity", parameter projection, and static normalization.