Abstract
An adaptive control problem for continuous-time systems using discrete adaptation technique is examined. We propose a hybrid adaptive scheme whose controller parameters are updated only at sampling instants using sampled data. In order to establish stability for the closed-loop adaptive system, an additional feedback loop is designed to compensate possible poor intersampling behavior. A stability analysis is given for the resulting adaptive control system. Furthermore, it is shown that the intersampling compensation can be designed such that for any given sampling rate, the asymptotic tracking performance of the closed-loop hybrid adaptive control system can be made arbitrarily close to that of the continuous adaptive control system.
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