Stability Margins of L₁ Adaptive Controller: Part II

2006/08/15 by Chengyu Cao, Naira Hovakimyan, Cao, Chengyu +1
Engineering · #93C40 #Adaptive Control of Nonlinear Systems #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems #Stability and Controllability of Differential Equations

paper · pdf · doi:10.48550/arxiv.math/0608394

openalex publication_date 2006/08/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

In Part I of this paper, we have developed a novel L₁ adaptive control architecture that enables fast adaptation and leads to uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. In this paper, we derive the stability margins of L₁ adaptive control architecture, including time-delay and gain margins in the presence of time-varying bounded disturbance. Simulations verify the theoretical findings.

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