A performance comparison of robust adaptive controllers: linear systems

We consider robust adaptive control designs for relative degree one, minimum phase linear systems of known high frequency gain. The designs are based on the dead-zone and projection modifications, and we compare their performance w.r.t. a worst case transient cost functional with a penalty on the L norm of the output, control and control derivative. We establish two qualitative results. If a bound on the L norm of the disturbance is known and the known a-priori bound on the uncertainty level is sufficiently conservative, then it is shown that a dead-zone controller outperforms a projection controller. The complementary result shows that the projection controller is superior to the dead-zone controller when the a-priori information on the disturbance level is sufficiently conservative. Key words. Robust Adaptive Control, Non-singular Performance

• Type: Journal
• Year: 2006
• Where: MCSS
• Authors: Ahmad Sanei, Mark French
• Keywords: Control Systems, Dead-zone Controller, MCSS 2006, Projection Controller, Robust Adaptive Control