New Normalizing Signals for Robust Adaptive Control

Abstract

This paper presents some new normalizing signals for the design of robust adaptive control schemes for plants with unmodeled dynamics and bounded disturbances. The stability margin of the unmodeled dynamics is not needed to generate the normalizing signal. The class of unmodeled dynamics admissible ble to robust adaptive control is further enlarged. The modified robust model reference adaptive control scheme with a new normalizing signal guarantees that the closed-loop plant is globally stable and the tracking error is of the order of the unmodeled dynamics and disturbances in the mean.