Abstract
In this paper we show that the transient bounds of Morse’s dynamic certainty equivalent adaptive controller [1] established in [2] can be considerably strenghtened. Specifically, we derive a computable bound on the L∞ norm of the tracking error which, in contrast with the local bound obtained in [2], holds for all systems initial conditions. Also, we add an “adaptation gain” in the high order estimator to prove that, by increasing this gain, the L2 norm of the tracking error can be made arbitrarily small without increasing its L∞ norm. This is an improvement over the results obtained with backstep-ping designs [6] where these performance measures must be traded-off in the selection of the adaptation speed.
Published Version
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