A Method of Robust Model Reference Adaptive Control for Discrete-Time Systems in the Presence of Unmodeled Dynamics

Abstract

A method for the design of a robust MRAC(model reference adaptive control) for discrete-time systems in the presence of unmodeled dynamics is proposed. This controller robustly stabilizes the nominal plant in the presence of unmodeled dynamics and achieves the desired model reference adaptive control simultaneously. Furthermore, in this method, we introduce the output-loop compensator for the unmodeled dynamics. Sufficient condition for stabilizing the nominal plant in the presence of unmodeled dynamics is established. Finally, the results of computer simulation are presented to illustrate the effectiveness of the proposed method.