2015/10/16 by Kumpati S. Narendra, Yu Wang, Narendra, Kumpati S. +3
Engineering · #Adaptive Control of Nonlinear Systems #FOS: Electrical engineering #Stability and Control of Uncertain Systems #Stability and Controllability of Differential Equations #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1510.04989
openalex publication_date 2015/10/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Recently, a new approach to the adaptive control of linear time-invariant plants with unknown parameters (referred to as second level adaptation), was introduced by Han and Narendra in [1]. Based on N (≥ m+1) fixed or adaptive models of the plant, where m is the dimension of the unknown parameter vector, an unknown parameter vector α∈ RN is estimated in the new approach, and in turn, is used to control the overall system. Simulation studies were presented in [1] to demonstrate that the new method is significantly better than those that are currently in use. In this paper, we undertake a more detailed examination of the theoretical and practical advantages claimed for the new method. In particular, the need for many models, the proof of stability, and the improvement in performance and robustness are explored in depth both theoretically and experimentally.