A robust adaptive performance enhancement controller using set membership identification

A robust direct adaptive control scheme is proposed to enhance the performance of a fixed nominal controller. The key idea lies in the introduction of a set membership constraint in the estimation process. The set membership constraint results in an adaptive scheme that has a built-in discriminator to discard incoming data that carry little or no information content on the actual plant. The proposed scheme, which uses only informative data to refine the parameter estimates, is more robust than conventional methods that continuously update the parameter estimates