Abstract
Considers the design and analysis of a robust adaptive model algorithmic controller based on the internal model control structure. The certainty equivalence principle of adaptive control is used to combine a discrete-time robust adaptive law with a model algorithmic internal model controller to obtain an adaptive model algorithmic internal model control scheme with provable guarantees of stability and robustness. The approach used parallels the earlier results obtained for adaptive internal model control. Nevertheless, there are some important differences which, together with the widespread interest in model algorithmic control, justifies a separate exposition.
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