On Computing the Equilibrium of the Averaged System for the Self-Tuning Regulator

This paper describes a technique for applying the method of averaging to adaptive control systems which contain both parametric and nonparametric uncertainty. The usual averaging approaches require the explicit computation of an equilibrium point of the averaged system. Here we present a method which uses bounds on the nonparametric uncertainty of the plant to impose robustness constraints on the control design. This analysis motivates an interpretation of the problem as system identification for control design.