A unified approach for the analysis and design of robust adaptive control systems

Abstract

This paper has two major objectives. The first is to present a unified approach to analyze various types of discrete and continuous time invariant/varying robust adaptive control systems. The approach also provides a general guideline for the design of robust adaptive controllers. The essential tool of analysis is the inductive technique. The second aim is to further develop the existing robust adaptive control theory. With the proposed unified approach, all the assumptions related to the a priori knowledge of modelling errors, which is required for the design and implementation of some existing robust adaptive controllers, can be removed. Also, the class of modelling errors including unmodelled dynamics and bounded external disturbances is enlarged in the sense that a looser bound can be allowed in the stability analysis.