Development and Theoretical Analysis of Direct Variational Adaptive Control Schemes

Abstract

In this paper, a new class of adaptive schemes, called “direct variational adaptive control schemes”, is presented, which introduces an alternative way to make use of the information provided by the identification of the prediction model, with respect to “conventional” self-tuning control schemes. Adaptive control algorithms, related to quadratic optimization criteria, are derived which admit a unique “whitening” equilibrium point, corresponding to the optimal control law. Finally, a theoretical analysis of the stability properties of this equilibrium point, for a particular quadratic optimization criterion, is provided.